Self-adjusting Active Compliance Controller for Two Cooperating Robots Handling a Flexible Object

In this paper a self-adjusting control strategy for two motion servoed robots handling a exible object is presented. The control strategy consists of a feed-forward and feedback level. The feedforward level contains motion coordination , force distribution of external forces, creation of internal forces, and an additional loop adding the elastic displacements due to the applied forces to the planned robot positions. The feedback level is constructed as an active compliance control law. For adjusting the controller to the in general unknown exible behaviour a procedure is presented, capable of determining the compliance of the considered system. The performance of the proposed scheme is tested by simulation.