Abstract
Coordinated compliant motion of two robotic devices can introduce greater flexibility and dexterity into manufacturing and improve productivity. By formulating coordinated compliant motion of two robotic devices as constrained motion of a manipulator under rheo-holonomic constraints imposed by a positioner, this paper studies dynamics and control of manipulators under rheo-holonomic constraints, which contain time explicitly. Two kinds of coordinated compliant motion: coordinated deburring/contour-following and coordinated peg-in-hole are discussed, and the redundancy resolution issue is also addressed. Finally, two and three dimensional coordinated deburring/contour-following are presented as illustrative examples.
