A comparison of control strategies for force constrained cooperating robots

An efficient hybrid control concept for force-constrained cooperating robots is presented. The entire control scheme is principally composed of two control levels; centralized coordination and decentralized control execution. The centralized coordination deals with the transformation of the coordinate vectors and the force vectors among the task space, the joint space and the end effect frames. Decentralized control execution is achieved in joint space. The authors adopt a proportional-integral (PI) control law for the force and the position controller in the joint space. The hybrid control scheme is compared with separate position control and master/slave control by simulation on typical cooperating robot systems with two six-jointed industrial robots carryout out exemplary tasks.<>