Dynamic Modeling and Hybrid Position/Force Control of Coordinated Dual-Arm

摘要

Consider the case of two manipulators cooperate a rigid object in the presence of environment constraint,to simultaneously control the object motion,internal stress force and external contact force is still a tough issue.In this paper,a dynamic hybrid position/force control method is studied for a symmetric coordinated dual-arm robot.First,a group of generalized workspace motion and force vectors are redefined for cooperate task description by taking the interaction between the object and environment into account.Then,by synthesizing the object dynamics and manipulator dynamics,an object-oriented dynamic equation of the coordinated closed chain is derived,where the relationships between object motion,internal stress force,and environmental contact force are explicitly included,and this equation and that of single arm dynamics in Cartesian still remain the same form.Based on this description,a dynamic hybrid position/force control scheme for dual-arm symmetric coordination is then designed,and decomposition and parallel realization of the control algorithm is also discussed.Last,a dual-arm robot composed of two PUMA562 manipulators and several experiments have been done on this test platform are presented,which show the proposed method works effectively.