An Experimental Investigation on Impedance Control for Dual-Arm Cooperative Systems

2007 ◽  
Author(s):  
Fabrizio Caccavale ◽  
Pasquale Chiacchio ◽  
Agostino De Santis ◽  
Alessandro Marino ◽  
Luigi Villani ◽  
...  
Keyword(s):  
Experimental Investigation ◽  
Impedance Control ◽  
Cooperative Systems ◽  
Dual Arm

Impedance Control of Dual-Arm Systems Based on the Object with Senseless Force

2013 ◽  
Vol 765-767 ◽  
pp. 1920-1923
Author(s):  
Li Jiang ◽  
Yang Zhou ◽  
Bin Wang ◽  
Chao Yu
Keyword(s):  
Numerical Simulations ◽  
Relative Position ◽  
Position Control ◽  
Impedance Control ◽  
Force Sensors ◽  
Operational Space ◽  
Novel Approach ◽  
Control Scheme ◽  
Statics And Dynamics ◽  
Dual Arm

A novel approach to impedance control based on the object is proposed to control dual-arm systems with senseless force. Considering the motion of the object, the statics and dynamics of the dual-arm systems are modeled. Extending the dynamics of dual-arm system and the impedance of object to the operational space, impedance control with senseless force is presented. Simulations on a dual-arm system are carried out to demonstrate the performance of the proposed control scheme. Comparing with position control, results of numerical simulations show that the proposed scheme realizes suitable compliant behaviors in terms of the object, and minimizes the error of the relative position between the manipulators even without force sensors.

scholarly journals Research and Ground Verification of the Force Compliance Control Method for Space Station Manipulator

2020 ◽  
Vol 2020 ◽  
pp. 1-17
Author(s):  
Bingshan Hu ◽  
Huanlong Chen ◽  
Liangliang Han ◽  
Hongliu Yu
Keyword(s):  
Real Time ◽  
Contact Force ◽  
Control Algorithm ◽  
Control Method ◽  
Impedance Control ◽  
Space Station ◽  
Gravity Compensation ◽  
Compliance Control ◽  
Experiment Platform ◽  
Dual Arm

The space station manipulator does lots of tasks with contact force/torque on orbit. To ensure the safety of the space station and the manipulator, the contact force/torque of manipulator must be controlled. Based on analyzing typical tasks’ working flows and force control requirements, such as ORU (orbit replacement unit) changeout and dual arm collaborative payload transport, an impedance control method based on wrist 6 axis force/torque feedback is designed. For engineering implementation of the impedance control algorithm, the discretization method and impedance control parameters selection principle are also studied. To verify the compliance control algorithm, a ground experiment platform adopting industrial manipulators is developed. In order to eliminate the influence of gravity, a real-time gravity compensation algorithm is proposed. Then, the correctness of real-time gravity compensation and force compliance control algorithm is verified on the experiment platform. Finally, the ORU replacement and dual arm collaborative payload transport experiments are done. Experimental results show that the force compliance control method proposed in this paper can control the contact force and torque at the end of the manipulator when executing typical tasks.

scholarly journals Six-DOF Impedance Control of Dual-Arm Cooperative Manipulators

2008 ◽  
Vol 13 (5) ◽  
pp. 576-586 ◽  
Author(s):  
F. Caccavale ◽  
P. Chiacchio ◽  
A. Marino ◽  
L. Villani
Keyword(s):  
Impedance Control ◽  
Six Dof ◽  
Dual Arm ◽  
Cooperative Manipulators

1A2-Q04 Cooperative Impedance Control using Dual-arm Manipulator with Hands(Robots for Works (1))

2013 ◽  
Vol 2013 (0) ◽  
pp. _1A2-Q04_1-_1A2-Q04_4
Author(s):  
Kentaro KASUYA ◽  
Kota NAKAMIZO ◽  
Guangwei WANG ◽  
Zunzun HU ◽  
Kenzo NONAMI
Keyword(s):  
Impedance Control ◽  
Dual Arm

Relative Impedance Control for Dual-Arm Robots Performing Asymmetric Bimanual Tasks

2014 ◽  
Vol 61 (7) ◽  
pp. 3786-3796 ◽  
Author(s):  
Jinoh Lee ◽  
Pyung Hun Chang ◽  
Rodrigo S. Jamisola
Keyword(s):  
Impedance Control ◽  
Dual Arm ◽  
Bimanual Tasks

scholarly journals Aerial Physical Interaction in Grabbing Conditions with Lightweight and Compliant Dual Arms

2020 ◽  
Vol 10 (24) ◽  
pp. 8927
Author(s):  
Alejandro Suarez ◽  
Pedro J. Sanchez-Cuevas ◽  
Guillermo Heredia ◽  
Anibal Ollero
Keyword(s):  
Impedance Control ◽  
Physical Interaction ◽  
Position Sensor ◽  
Aerial Manipulation ◽  
End Effector ◽  
Control Scheme ◽  
External Forces ◽  
Dual Arm ◽  
Manipulation Robot ◽  
Aerial Platform

This paper considers the problem of performing bimanual aerial manipulation tasks in grabbing conditions, with one of the arms grabbed to a fixed point (grabbing arm) while the other conducts the task (operation arm). The goal was to evaluate the positioning accuracy of the aerial platform and the end effector when the grabbing arm is used as position sensor, as well as to analyze the behavior of the robot during the aerial physical interaction on flight. The paper proposed a control scheme that exploits the information provided by the joint sensors of the grabbing arm for estimating the relative position of the aerial platform w.r.t. (with respect to) the grabbing point. A deflection-based Cartesian impedance control was designed for the compliant arm, allowing the generation of forces that help the aerial platform to maintain the reference position when it is disturbed due to external forces. The proposed methods were validated in an indoor testbed with a lightweight and compliant dual arm aerial manipulation robot.

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