Development of Dual-Arm Assistant Robot: the Manipulator Arm Control System

摘要

This article is aimed at developing software and hardware solutions in the field of creating a universal robot designed to perform various simple tasks, with the purpose of replacing human labor, in a remote and autonomous mode. The article presents an approach to the development of a robot arm control system - a 7-axis collaborative anthropomorphic manipulator, whose links are driven by actuators with controlled stiffness. The proposed approach is featured with the implementation and experimental study of a system consisting of 7 actuators with controlled stiffness in the MATLAB R2017a environment. The article describes the control system architecture, as well as the study of the control system response to step input and the analysis of joint coupling of the links.