Robust Coordinated Compliant Control for Dual-Arm Robots with Position Uncertainty of End-Effector

Jiangbo Zhao; Chengyuan Chen; Junzheng Wang; Tong Yan; Jianxin Zhao; Yunfeng Jiang

doi:10.1007/978-981-97-1099-7_17

Robust Coordinated Compliant Control for Dual-Arm Robots with Position Uncertainty of End-Effector

Jiangbo Zhao^*, Chengyuan Chen, Junzheng Wang, Tong Yan, Jianxin Zhao, Yunfeng Jiang

^*Corresponding author for this work

School of Automation

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

In this paper, a robust coordinated compliance control is addressed to realize position/force tracking for dual-arm cooperative robots. The control strategy combines sliding mode control with impedance control to complete dual-arm coordinated tasks with external disturbance and position uncertainty of end-effector. The trajectory errors from measure disturbance is considered, and SMC is used to eliminate it. When the system is subjected to external disturbance, the force of end-effector is decomposed into external force and internal force by force decomposition model. Then the impedance control is introduced and the system achieve compliance control by adjusting the reference trajectory to prevent too large internal force between two arms. Finally, a simulation experiment is designed to verify the effectiveness of proposed strategy. The results illustrate the excellent performance and feasibility of our proposed method.

Original language	English
Title of host publication	Proceedings of 3rd International Conference on Autonomous Unmanned Systems, ICAUS 2023 - Volume 6
Editors	Yi Qu, Mancang Gu, Yifeng Niu, Wenxing Fu
Publisher	Springer Science and Business Media Deutschland GmbH
Pages	172-181
Number of pages	10
ISBN (Print)	9789819710980
DOIs	https://doi.org/10.1007/978-981-97-1099-7_17
Publication status	Published - 2024
Event	3rd International Conference on Autonomous Unmanned Systems, ICAUS 2023 - Nanjing, China Duration: 9 Sept 2023 → 11 Sept 2023

Publication series

Name	Lecture Notes in Electrical Engineering
Volume	1176 LNEE
ISSN (Print)	1876-1100
ISSN (Electronic)	1876-1119

Conference

Conference	3rd International Conference on Autonomous Unmanned Systems, ICAUS 2023
Country/Territory	China
City	Nanjing
Period	9/09/23 → 11/09/23

Keywords

impedance control
position uncertainty
position/force tracking
sliding mode control

Access to Document

10.1007/978-981-97-1099-7_17

Cite this

Zhao, J., Chen, C., Wang, J., Yan, T., Zhao, J., & Jiang, Y. (2024). Robust Coordinated Compliant Control for Dual-Arm Robots with Position Uncertainty of End-Effector. In Y. Qu, M. Gu, Y. Niu, & W. Fu (Eds.), Proceedings of 3rd International Conference on Autonomous Unmanned Systems, ICAUS 2023 - Volume 6 (pp. 172-181). (Lecture Notes in Electrical Engineering; Vol. 1176 LNEE). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-981-97-1099-7_17

Zhao, Jiangbo ; Chen, Chengyuan ; Wang, Junzheng et al. / Robust Coordinated Compliant Control for Dual-Arm Robots with Position Uncertainty of End-Effector. Proceedings of 3rd International Conference on Autonomous Unmanned Systems, ICAUS 2023 - Volume 6. editor / Yi Qu ; Mancang Gu ; Yifeng Niu ; Wenxing Fu. Springer Science and Business Media Deutschland GmbH, 2024. pp. 172-181 (Lecture Notes in Electrical Engineering).

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title = "Robust Coordinated Compliant Control for Dual-Arm Robots with Position Uncertainty of End-Effector",

abstract = "In this paper, a robust coordinated compliance control is addressed to realize position/force tracking for dual-arm cooperative robots. The control strategy combines sliding mode control with impedance control to complete dual-arm coordinated tasks with external disturbance and position uncertainty of end-effector. The trajectory errors from measure disturbance is considered, and SMC is used to eliminate it. When the system is subjected to external disturbance, the force of end-effector is decomposed into external force and internal force by force decomposition model. Then the impedance control is introduced and the system achieve compliance control by adjusting the reference trajectory to prevent too large internal force between two arms. Finally, a simulation experiment is designed to verify the effectiveness of proposed strategy. The results illustrate the excellent performance and feasibility of our proposed method.",

keywords = "impedance control, position uncertainty, position/force tracking, sliding mode control",

author = "Jiangbo Zhao and Chengyuan Chen and Junzheng Wang and Tong Yan and Jianxin Zhao and Yunfeng Jiang",

note = "Publisher Copyright: {\textcopyright} Beijing HIWING Scientific and Technological Information Institute 2024.; 3rd International Conference on Autonomous Unmanned Systems, ICAUS 2023 ; Conference date: 09-09-2023 Through 11-09-2023",

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doi = "10.1007/978-981-97-1099-7_17",

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Zhao, J, Chen, C, Wang, J, Yan, T, Zhao, J & Jiang, Y 2024, Robust Coordinated Compliant Control for Dual-Arm Robots with Position Uncertainty of End-Effector. in Y Qu, M Gu, Y Niu & W Fu (eds), Proceedings of 3rd International Conference on Autonomous Unmanned Systems, ICAUS 2023 - Volume 6. Lecture Notes in Electrical Engineering, vol. 1176 LNEE, Springer Science and Business Media Deutschland GmbH, pp. 172-181, 3rd International Conference on Autonomous Unmanned Systems, ICAUS 2023, Nanjing, China, 9/09/23. https://doi.org/10.1007/978-981-97-1099-7_17

Robust Coordinated Compliant Control for Dual-Arm Robots with Position Uncertainty of End-Effector. / Zhao, Jiangbo; Chen, Chengyuan; Wang, Junzheng et al.
Proceedings of 3rd International Conference on Autonomous Unmanned Systems, ICAUS 2023 - Volume 6. ed. / Yi Qu; Mancang Gu; Yifeng Niu; Wenxing Fu. Springer Science and Business Media Deutschland GmbH, 2024. p. 172-181 (Lecture Notes in Electrical Engineering; Vol. 1176 LNEE).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Jiang, Yunfeng

N1 - Publisher Copyright: © Beijing HIWING Scientific and Technological Information Institute 2024.

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Y1 - 2024

N2 - In this paper, a robust coordinated compliance control is addressed to realize position/force tracking for dual-arm cooperative robots. The control strategy combines sliding mode control with impedance control to complete dual-arm coordinated tasks with external disturbance and position uncertainty of end-effector. The trajectory errors from measure disturbance is considered, and SMC is used to eliminate it. When the system is subjected to external disturbance, the force of end-effector is decomposed into external force and internal force by force decomposition model. Then the impedance control is introduced and the system achieve compliance control by adjusting the reference trajectory to prevent too large internal force between two arms. Finally, a simulation experiment is designed to verify the effectiveness of proposed strategy. The results illustrate the excellent performance and feasibility of our proposed method.

AB - In this paper, a robust coordinated compliance control is addressed to realize position/force tracking for dual-arm cooperative robots. The control strategy combines sliding mode control with impedance control to complete dual-arm coordinated tasks with external disturbance and position uncertainty of end-effector. The trajectory errors from measure disturbance is considered, and SMC is used to eliminate it. When the system is subjected to external disturbance, the force of end-effector is decomposed into external force and internal force by force decomposition model. Then the impedance control is introduced and the system achieve compliance control by adjusting the reference trajectory to prevent too large internal force between two arms. Finally, a simulation experiment is designed to verify the effectiveness of proposed strategy. The results illustrate the excellent performance and feasibility of our proposed method.

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Zhao J, Chen C, Wang J, Yan T, Zhao J, Jiang Y. Robust Coordinated Compliant Control for Dual-Arm Robots with Position Uncertainty of End-Effector. In Qu Y, Gu M, Niu Y, Fu W, editors, Proceedings of 3rd International Conference on Autonomous Unmanned Systems, ICAUS 2023 - Volume 6. Springer Science and Business Media Deutschland GmbH. 2024. p. 172-181. (Lecture Notes in Electrical Engineering). doi: 10.1007/978-981-97-1099-7_17