scholarly journals Cooperative compliance control of the dual-arm manipulators with elastic joints

2021 ◽  
Vol 35 (12) ◽  
pp. 5689-5697
Author(s):  
Xin Jing ◽  
Haibo Gao ◽  
Yaobing Wang ◽  
Zhengsheng Chen
Keyword(s):  
Compliance Control ◽  
Elastic Joints ◽  
Dual Arm

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 A Recursive Dynamic Modeling and Control for Dual-arm Manipulator With Elastic Joints

IEEE Access ◽  
2020 ◽  
Vol 8 ◽  
pp. 155093-155102
Author(s):  
Xin Jing ◽  
Haibo Gao ◽  
Zhengsheng Chen ◽  
Yaobing Wang
Keyword(s):  
Dynamic Modeling ◽  
Modeling And Control ◽  
Elastic Joints ◽  
And Control ◽  
Dual Arm

Compliance Control for an Anthropomorphic Robot with Elastic Joints: Theory and Experiments

2004 ◽  
Vol 127 (3) ◽  
pp. 321-328 ◽  
Author(s):  
Loredana Zollo ◽  
Bruno Siciliano ◽  
Alessandro De Luca ◽  
Eugenio Guglielmelli ◽  
Paolo Dario
Keyword(s):  
Closed Loop ◽  
Robot Manipulators ◽  
Assistive Robotics ◽  
Direct Lyapunov Method ◽  
Compliance Control ◽  
Control Laws ◽  
Closed Loop Systems ◽  
Biomedical Robotics ◽  
Elastic Joints ◽  
Robot Performance

Studies on motion control of robot manipulators with elastic joints are basically aimed at improving robot performance in tracking or regulation tasks. In the interaction between robots and environment, instead, the main objective of a control strategy should be the reduction of the vibrational and chattering phenomena that elasticity in the robot joints can cause. This work takes into account working environments where unexpected interactions are experienced and proposes a compliance control scheme in the Cartesian space to reduce the counter effects of elasticity. Two theoretical formulations of the control law are presented, which differ for the term of gravity compensation. For both of them the closed-loop equilibrium conditions are evaluated and asymptotic stability is proven through the direct Lyapunov method. The two control laws are applied to a particular class of elastic robot manipulators, i.e., cable-actuated robots, since their intrinsic mechanical compliance can be successfully utilized in applications of biomedical robotics and assistive robotics. A compared experimental analysis of the two formulations of compliance control is finally carried out in order to verify stability of the two closed-loop systems as well as the capability to control the robot force in the interaction.

scholarly journals Multi-Point Compliance Control for Dual-Arm Robots Utilizing Kinematic Redundancy

1993 ◽  
Vol 29 (6) ◽  
pp. 637-646 ◽  
Author(s):  
Achmad JAZIDIE ◽  
Toshio TSUJI ◽  
Mitsuo NAGAMACHI ◽  
Koji ITO
Keyword(s):  
Kinematic Redundancy ◽  
Compliance Control ◽  
Dual Arm

scholarly journals Coordinated compliance control of dual-arm robot astronaut for payload operation

2021 ◽  
Vol 18 (3) ◽  
pp. 172988142110128
Author(s):  
Bingshan Hu ◽  
Lei Yan ◽  
Liangliang Han ◽  
Hongliu Yu
Keyword(s):  
Force Control ◽  
Position Control ◽  
Control Method ◽  
Constraint Equation ◽  
Control Mode ◽  
Control Methods ◽  
Compliance Control ◽  
Closed Chain ◽  
Dual Arm Robot ◽  
Dual Arm

Dual-arm robot astronaut has more general and dexterous operation ability than single-arm robot, and it can interact with astronaut more friendly. The robot will inevitably use both arms to grasp payloads and transfer them. The force control of the arms in closed chains is an important problem. In this article, the coordinated kinematic and dynamic equations of the dual-arm astronaut are established by considering the closed-chain constraint relationship. Two compliance control methods for dual-arm astronaut coordinated payload manipulating are proposed. The first method is called master–slave force control and the second is the shared force control. For the former, the desired path and operational force of the master arm should be given in advance and that of slave arm are calculated from the dual-arm robot closed-chain constraint equation. In the share control mode, the desired path and end operational force of dual arms are decomposed from the dual-arm robot closed-chain constraint equation directly and equally. Finally, the two control algorithms are verified by simulation. The results of analysis of variance of the simulation data show that the two control methods have no obvious difference in the accuracy of force control but the second control method has a higher position control accuracy, and this proves that the master–slave mode is better for tasks with explicit force distribution requirements and the shared force control is especially suitable for a high-precision requirement.

Sign in / Sign up

Export Citation Format

Share Document