Six-DOF Impedance Control of Dual-Arm Cooperative Manipulators

Abstract

In this paper, the problem of impedance control of dual-arm cooperative manipulators is studied. A general impedance control scheme is adopted, which encompasses a centralized impedance control strategy, aimed at conferring a compliant behavior at the object level, and a decentralized impedance control, enforced at the end-effector level, aimed at avoiding large internal loading of the object. Remarkably, the mechanical impedance behavior is defined in terms of geometrically consistent stiffness. The overall control scheme is based on a twoloop arrangement, where a simple proportional integral derivative inner motion loop is adopted for each manipulator, while an outer loop, using force and moment measurements at the robots wrists, is aimed at imposing the desired impedance behaviors. The developed control scheme is experimentally tested on a dual-arm setup composed of two 6-DOF industrial manipulators carrying a common object. The experimental investigation concerns the four different controller configurations that can be achieved by activating/deactivating the single impedance controllers.

Robust Impedance Control of High-DOF Robot Based on ISMC and DOB

“…Impedance control determines the dynamic relationship between the robot and its environment [2][3][4][5][6][7]. It is based on the robot dynamics, however, its control performance is deteriorated by the uncertainties and disturbances.…”

Task-Space Modular Dynamics for Dual-Arms Expressed through a Relative Jacobian

“…For humanoids, these studies include the effects in modelling and simulating a human or a humanoid [8], task and whole body motion coordination with active force control [9], a dynamics simulator for humanoid robots [10,11], dynamic balance force control for determining full body joint torques [12,13], sequential optimization for impact motions of humanoid robots [14], human-humanoid postures with external disturbances [15], centroidal dynamics of humanoids [16], humanoid complete dynamics [17], and decoupled dynamics for NASA-JSC Valkyrie [18]. For dual-arm robots, studies on their dynamics model include dynamics of a flexible dual-arm robot using Lagrange formulation [19], modular dynamics with inertias expressed at the joint-space level [20], dynamics of a dual-arm space robot [21,22], dynamics of a dual-arm robot for load transport under sliding mode control [23,24], dynamics with elasticity at the joints [25], and dynamics of rigid dual-arms carrying a flexible load [26].…”

Control Algorithm Trajectory Planning for Dual Cooperative Manipulators with Experimental Verification

“…therefore, studying dual-arm manipulators is a natural avenue of researches [1]. variety of robot platforms used for dual arm manipulation, while some researches are carried out on systems built by simply placing two single arm manipulators for sharing same workspace [2].…”