Strategy and Stability Analysis of Position and Force Control for Two Industrial Robots Handling a Single Object

The simultaneous position and force control problem for two industrial robots in handling a single object is studied in this paper. Two strategies, position-position control and position-force control, are first proposed. Stability analysis is then conducted for the strategies. Both strategies result in a stable system for simple robotic models. Steady state error is also studied in this paper. The investigation shows that both strategies have non-zero steady-state errors, which need to be improved for high performance coordinations.