Trajectory planning for two manipulators to deform flexible materials using compliant motion

Coordinating two robot manipulators to handle flexible materials has a wide range of applications in the manufacturing industry. However, this problem has not been seriously addressed until recently. The two robot manipulators have to follow complicated trajectories to maintain a minimum interaction force with the flexible beam. These trajectories are very complicated and not suitable for real time systems. A compliant motion scheme is proposed to reduce the interaction forces and moments. The stability of the proposed system is investigated. Experimental results encourage the proposed scheme