Experimental results of two robot arms manipulating large objects

Experimental results for the TRACS testbed, consisting of two PUMA 250 robot arms, are presented. The two arms manipulate a large object by means of an enveloping grasp. A dynamic control algorithm developed for coordinating two robotic arms have been successfully implemented. The results from two experimental tasks in which the two arms move an object while adapting the grasp configuration to the motion trajectory and to an external disturbance force are described in detail. >