Control Strategies for Dual Arm Co-Manipulation of Flexible Objects in Industrial Environments

Abstract

The introduction of collaborative robots had a great impact in the development of robotic solutions for cooperative tasks typically performed by humans, specially in industrial environments where robots can act as assistants of operators. Even so, the coordinated manipulation of large and deformable parts between dual arm robots and humans rises many technical challenges, ranging from the coordination of both robotic arms to the detection of the forces applied by the operator. This paper presents a novel control architecture for the execution of trajectory driven collaborative tasks, combining impedance control and trajectory coordination in the control loop. The obtained results demonstrate the validity of the implemented control architecture as well as its suitability for the implementation of collaborative cyber-physical systems.

Human-robot mobile co-manipulation of flexible objects by fusing wrench and skeleton tracking data

“…Bodenhagen et al used an adaptable vision system towards the manipulation of flexible objects in an industrial environment, including peg-inhole tasks and laying-down actions (Bodenhagen et al 2014). Control strategies for dual arm co-manipulation of large and deformable objects in industrial environments have been derived by (Ibarguren, Daelman, and Prada 2020). The authors derived a novel control architecture for executing trajectory-driven human-robot collaborative tasks.…”