Compliant payload presentation using robotic system with coordinated serial and parallel robots

A robotic system for presenting a payload within a workspace, the robotic system comprising:

• a pair of serial robots configured to connect to the payload and cooperatively present the payload within the workspace;
• a parallel robot connected to a distal end of one of the pair of serial robots, such that the parallel robot is disposed between the distal end and the payload;
• a force sensor situated within a kinematic chain extending between the distal end and the payload, the force sensor being configured to output a force signal indicative of strain on the payload;
• and
• a robot control system (RCS) having:
• a coordinated motion controller in communication with the pair of serial robots, and configured to output a first set of actuator control signals to the pair of serial robots, the first set of actuator control signals coordinating multi-axial motion of the pair of serial robots as the serial robots simultaneously grip and present the payload within the workspace;
• and
• a corrective motion controller in communication with the parallel robot and the force sensor, and configured to output a second set of actuator control signals to the parallel robot in response to the force signal, concurrently with the first set of actuator control signals, to thereby impart corrective motion to the payload and thereby reduce the strain thereon.