Experimental studies of algorithms for control of coordinated motion of two-manipulator cooperative system

Results of experimental studies of two algorithms for control of motion of a two-manipulator cooperative system are considered for the case of mechanical connection between the manipulators. The first algorithm is based on a common planned trajectory given for both manipulators. In the second algorithm, the planned trajectory is set only for one of the manipulators — the “leader”. Motion of the second manipulator is carried out in a compliant mode by signals from the six-component force/moment sensor.