Compliance control and unstructured modeling of cooperating robots

The control strategy of two cooperating robots is described. A two-fingered hand is an example of such a system. A control architecture is proposed that guarantees: (1) each robot end-point follows its position input command vector `closely´ when the robots are not in contact with each other, and (2) when the two robots come in contact with each other, one robot controls the position of the contact point, while the other controls the contact force. The controller does not need any hardware or software switch for the transition between unconstrained and constrained maneuvering of each robot