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首页> 外文期刊>IEEE / ASME Transactions on Mechatronics >Six-DOF Impedance Control of Dual-Arm Cooperative Manipulators
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Six-DOF Impedance Control of Dual-Arm Cooperative Manipulators

机译：双臂协作机械手的六自由度阻抗控制

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In this paper, the problem of impedance control of dual-arm cooperative manipulators is studied. A general impedance control scheme is adopted, which encompasses a centralized impedance control strategy, aimed at conferring a compliant behavior at the object level, and a decentralized impedance control, enforced at the end-effector level, aimed at avoiding large internal loading of the object. Remarkably, the mechanical impedance behavior is defined in terms of geometrically consistent stiffness. The overall control scheme is based on a two-loop arrangement, where a simple proportional integral derivative inner motion loop is adopted for each manipulator, while an outer loop, using force and moment measurements at the robots wrists, is aimed at imposing the desired impedance behaviors. The developed control scheme is experimentally tested on a dual-arm setup composed of two 6-DOF industrial manipulators carrying a common object. The experimental investigation concerns the four different controller configurations that can be achieved by activating/deactivating the single impedance controllers.
机译：本文研究了双臂协作机械手的阻抗控制问题。采用一般的阻抗控制方案，其中包括集中的阻抗控制策略（旨在在对象级别授予顺从行为）和分散的阻抗控制（在末端执行器级别执行），旨在避免对象的较大内部负载。显着地，机械阻抗行为是根据几何上一致的刚度定义的。总体控制方案基于两环布置，其中每个机械手均采用简单的比例积分微分内运动环，而外环则使用机械手腕上的力和力矩测量，旨在施加所需的阻抗行为。所开发的控制方案在由两个带有一个公共对象的6自由度工业机械手组成的双臂装置上进行了实验测试。实验研究涉及可以通过激活/停用单个阻抗控制器来实现的四种不同的控制器配置。

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