Sensors optimization-based control of two planar robots in lifting

In this paper, we focus on one of the central problem of observers design and control of general manipulation systems. The mechanical compliance introduced by the cooperation between the manipulators and their load interactions complex. First, the control must be designed in this case in order to realize the object trajectory and/or external forces tracking. But, the controller action must respect and not violate at each moment the kinematic constraint of the manipulation system. Seconde and more importantly, the augmented manipulation system (the closed chain : manipulators-object) is nonlinear and complex system, then the observer design is very difficult, which motivate us to develop a new approach to design a multi models-based observer which we call hysteresis hybrid observer.