Résumé
In order to perform complex coordinated tasks with a two-arm robot, we have designed and implemented a robust hybrid position/force control scheme. Previous papers have been dedicated to precise presentation of the method: the main goal of this paper is to present the practical point of view. Of course, we first recall the description of our original control scheme applied to a two-arm robot manipulating a single object: this control scheme has been defined after series of tests which have involved many different control schemes. We discuss also the reason why we have chosen a DSP-based controller to implement such a scheme, we show the ways the control software and the operator-robot interface are implemented on this single-processor architecture. Finally, experimental results are presented which prove both the robustness of the control strategies and the efficiency of a DSP-based hardware for advanced robot control.