Coordinated motion of two redundant manipulators by simple hybrid position/force controller with disturbance observer

We propose a simple and high performance hybrid position/force control method of redundant manipulators. The proposed method uses disturbance observers both in task space and joint space. The disturbance observer linearizes control objects. By using the disturbance observer in joint space, the dynamics of manipulators can be linearized. The inverse kinematics can be simplified by the disturbance observer in task space. In this paper, the proposed simple hybrid position/force control method is applied to a coordinated motion, and usefulness of this method is confirmed by a simulation result.