Using visual and force information in robot-robot cooperation to build metallic structures

In this paper, a cooperative robot-robot approach to construct metallic structures is presented. In order to develop this task, a visual-force control system is proposed. The visual information is composed of an eye-in-hand camera, and a time of flight 3D camera. Both robots are equipped by a force sensor at the end-effector. In order to allow a human cooperate with both robots, an inertial motion capture system and an indoor localization system are em ployed. This multisensorial approach allows the robots to cooperatively construct the metallic structure in a flexible way and sharing the workspace with a human operator.