Internal force-based impedance control of dual-arm manipulation of flexible objects

2002 ◽  
Author(s):  
A.S. alYahmadi ◽  
T.C. Hsia
Keyword(s):  
Impedance Control ◽  
Internal Force ◽  
Flexible Objects ◽  
Dual Arm

scholarly journals Dual-Arm Coordinated Control Strategy Based on Modified Sliding Mode Impedance Controller

Sensors ◽  
2021 ◽  
Vol 21 (14) ◽  
pp. 4653
Author(s):  
Xuefei Liu ◽  
Xiangrong Xu ◽  
Zuojun Zhu ◽  
Yanglin Jiang
Keyword(s):  
Control Strategy ◽  
Control Algorithm ◽  
Sliding Mode ◽  
Impedance Control ◽  
Coordinated Control ◽  
Internal Force ◽  
Target Object ◽  
Stability And Convergence ◽  
Object A ◽  
Dual Arm

To meet the high-accuracy position/force control requirements of dual-arm robots for handling a target object, a control algorithm for dual-arm robots based on the modified sliding mode impedance controller MSMIC(tanh) is proposed. First, the combinative kinematics equation of the dual-arm robots and the unified dynamics model combining the manipulated object is established. Second, according to the impedance control motion model for the object, the desired joint angular accelerations of the manipulators are obtained, and the sliding mode controller based on the hyperbolic tangent function as the switch function is introduced to design the coordinated control strategy for dual-arm robots. The stability and convergence of the designed controller are proved according to the Lyapunov function theory. Finally, the operation tasks of the coordinated transport the target object for dual-arm robots are carried out in the simulated experiment environment. Simulation results show that the proposed control scheme can stably output the required internal force and achieve a high-precision trajectory tracking effect while reducing the periodic torque and joint chattering amplitude generated in the conventional sliding mode control algorithm.

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
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