Under CopyrightSpiller, AlexanderAlexanderSpillerVerl, AlexanderAlexanderVerl2022-03-1114.8.20122012https://publica.fraunhofer.de/handle/publica/37634110.24406/publica-fhg-376341In this paper, we discuss the process of "handling a work piece" with cooperating industrial robots with the intention of minimizing the forces inside the work piece during the process. The process is very similar to the single-robot process "pick-and-place", but is analysed for the special case of two robots handling one work piece together. We present a qualitative separation of the process in different phases and explain the necessity for different control strategies per phase. We then present a control scheme for the phase "running into work piece". The paper ends with the discussion of results, taken from our test rig, using the control scheme.encooperating robotforce controlhandlingpick and placeKraftregelungProzessmodellkooperierende RoboterIndustrieroboterFührung (Bewegung von Werkzeug / Werkstück)Robotersteuerungconference paper