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The field of multi-robot control has almost exclusively addressed issues that are of relevance to the manipulation of payloads that are rigid. A number of studies have examined the multi-robot manipulation of rigid payloads with one or more lower-pair joints such as hand tools, i.e., pliers. In this work, we examine certain modeling and control aspects associated with the assembly of flexible payloads with a multi-robot system. While this particular problem is of a general nature, our work is motivated by the particular problem presented by the assembly of automotive bodies from sheet metal parts. State of the art assembly of automotive bodies involves the use of a great number of costly hardware fixtures that are used to orient and clamp each piece of bent sheet metal prior to robot welding. Currently under development, a new assembly technology called flexible fixtureless assembly is being designed to replace fixtures with robotic technology. Each robot grasps one piece of sheet metal, and correctly positions and orients the part to mate them to permit a third robot to weld them. The assembly process is complicated by the fact that the sheet metal parts are flexible, cannot be permanently deformed during mating and must be positioned to within a relatively small position tolerance. This article describes work performed to model the dynamics of a multi-robot system consisting of two robot manipulators bringing sheet metal parts of an automotive body into contact. This dynamic model is used as a tool to facilitate the investigation

Dynamic modeling and control of a multi-robot system for assembly of flexible payloads with applications to automotive body assembly