Abstract

A hybrid symmetric control scheme initially developed for the manipulation of rigid objects with two arms has been extended to the case of deformable objects. We briefly present this theoretical approach and give more details about the implemented control scheme. This implementation has been done on a multiprocessor architecture, which controls a robot composed of two Puma's 560. Experiments such as the manipulation of rigid objects with internal force control, or the assembly of two objects, with each being held by one arm have been carried out. However, this paper emphasizes the manipulation of deformable objects, i.e. their force controlled deformation and their transport while deformed. Several quantitative results are given, in the simple case of a one-dimensional spring.

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