TY - GEN
T1 - Robust Coordinated Compliant Control for Dual-Arm Robots with Position Uncertainty of End-Effector
AU - Zhao, Jiangbo
AU - Chen, Chengyuan
AU - Wang, Junzheng
AU - Yan, Tong
AU - Zhao, Jianxin
AU - Jiang, Yunfeng
N1 - Publisher Copyright:
© Beijing HIWING Scientific and Technological Information Institute 2024.
PY - 2024
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.
KW - impedance control
KW - position uncertainty
KW - position/force tracking
KW - sliding mode control
UR - https://www.scopus.com/pages/publications/85192922387
U2 - 10.1007/978-981-97-1099-7_17
DO - 10.1007/978-981-97-1099-7_17
M3 - Conference contribution
AN - SCOPUS:85192922387
SN - 9789819710980
T3 - Lecture Notes in Electrical Engineering
SP - 172
EP - 181
BT - Proceedings of 3rd International Conference on Autonomous Unmanned Systems, ICAUS 2023 - Volume 6
A2 - Qu, Yi
A2 - Gu, Mancang
A2 - Niu, Yifeng
A2 - Fu, Wenxing
PB - Springer Science and Business Media Deutschland GmbH
T2 - 3rd International Conference on Autonomous Unmanned Systems, ICAUS 2023
Y2 - 9 September 2023 through 11 September 2023
ER -