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Journal of Robotics
Volume 2009, Article ID 214154, 8 pages
Research Article

Collaborative Assembly Operation between Two Modular Robots Based on the Optical Position Feedback

1College of Mechanical Engineering, Beijing University of Technology, Beijing 100022, China
2Southwest University of Science and Technology, MianYang 621010, China

Received 12 May 2009; Revised 3 October 2009; Accepted 26 October 2009

Academic Editor: Simon X. Yang

Copyright © 2009 Liying Su et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


This paper studies the cooperation between two master-slave modular robots. A cooperative robot system is set up with two modular robots and a dynamic optical meter-Optotrak. With Optotrak, the positions of the end effectors are measured as the optical position feedback, which is used to adjust the robots' end positions. A tri-layered motion controller is designed for the two cooperative robots. The RMRC control method is adopted to adjust the master robot to the desired position. With the kinematics constraints of the two robots including position and pose, joint velocity, and acceleration constraints, the two robots can cooperate well. A bolt and nut assembly experiment is executed to verify the methods.