Hybrid external control for two robot coordinated motion

In the field of robotic applications based on the coordinated motion of two manipulators, it seems that very few control schemes work efficiently. The best way to achieve the simultaneous control of object trajectory and forces applied to it, is to implement control schemes that are extended versions of one arm hybrid force/position control. The aim of this paper is not to review all existing solutions but rather to analyze and compare them from simulation results with a new solution presented here. The control scheme is an application of the one arm hybrid external control that we had previously developed. The main results of this theory are summarized in this paper. This radically new approach for a cooperation task has some advantages compared to other methods mentioned in this paper.

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