An experimental set-up for cooperative manipulation based on industrial manipulators

Describes the experience of setting up a cooperative arm system based on in dividual open-architecture controllers. Two six-degree-of-freedom industria l manipulators, one of which is mounted on a moving track, are installed to realize a cooperative experimental set-up. The main issues related to the cooperative manipulation are overviewed and its potential applications in i ndustry are discussed. A brief description of the system's components is gi ven. The most relevant problems encountered in setting up the cooperative s ystem based on individual control architectures are detailed. The result of the experience is that by using available industrial manipulators. rather than prototypes, and without re-designing the controller hardware, it is po ssible to realize a cooperative manipulator system.