Unknown load distribution of two industrial robots

Unknown load distribution between two coordinated industrial robots is studied using two different methods. In the first method, called the load estimation method, the parameters associated with the load are estimated using the information from two wrist force sensors. As a result, the load becomes known, and conventional methods can then be applied to distribute the force. In the second method, the force compensation method, one of the robots, called the leader, takes the major role of carrying the load. The load is compensated for by another robot called the follower until the leader can carry the load to follow a satisfactory trajectory. Simulation results which demonstrate the validity of the force compensation method are presented