Experimental comparison of master/slave and hybrid two arm position/force control

The difference between master/slave and hybrid two-arm position/force control is clarified. Experimental results have shown that the hybrid control law yields smaller force errors, better tracking of sine input, and faster rise time for a step input than the master/slave control law. The master/slave control for both step and sine input resulted in a maximum force error of 75%, wherein the hybrid scheme had only 34% maximum error for the step command and 18% maximum error for the sine command. The reason for difference is that in master/slave control there is no sharing of information (errors) between the arms, and the slave must react to the master. In hybrid control the arms share the internal force error and position error, i.e. they cooperate when they move.>