Abstract
A coordinative motion control is described for two different kind of manipulators by using a master-slave concept. Here, the master part consists of a pantagraph-type two link manipulator driven by a torque command, whereas the slave part is an industrial manipulator driven by a position command with a force torque sensor. To achieve a desired contact force between the slave manipulator and an object, a compensative position command is generated by using an incremental fuzzy reasoning with the force sensor information. The effectiveness is verified by experiments.
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