2024
DOI: 10.1177/10775463241286550
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Flatness-based control in successive loops for dual-arm robotic manipulators

Gerasimos Rigatos,
Masoud Abbaszadeh,
Zouari Farouk

Abstract: Dual-arm robotic manipulators are used in industry and for assisting humans since they enable dexterous handling of objects and more agile and secure execution of pick-and-place, grasping and lifting, or assembling tasks. In this article, a multi-loop flatness-based controller is proposed for the dynamic model of a dual-arm robot. In the considered application, the dual-arm robotic system has to lift and transfer an object under synchronized motion of its two end-effectors while it has also to compensate for t… Show more

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