摘要：AbstractThis paper proposes the modeling and the control of two robots that co-manipulate an object. In the studied strategy, one robot is controlled on position whilst the other on force which will permit precise positioning of the object while mastering the manipulation force. On the other hand, the object is considered deformable which renders the manipulation task very challenging. For that, we propose to model the object deformation and include it in the controllers design. The robustH∞technique is proposed to design the force and the position controllers such that prescribed performances be obtained and disturbance effects due to the object be rejected. An automated pick-and-place task is simulated which validates the interest of the proposed force-position control techniques.
