Abstract
In order to realize the precise control of the contact force and position between the two manipulators and the object when the dual-arm robot cooperatively carry the target object, a modified sliding mode control method with force coordination performance based on impedance control is proposed in this paper. Firstly, the motion constraint relationship and dynamic model of the dual-arm robot are obtained according to the relative position relationship of the dual-arm robot when carrying objects. Next, the force of the controlled object is analyzed and decomposed by Newton’s second law, and the terminal contact force of dual arms is obtained. Then, we integrate the hyperbolic tangent sliding mode control algorithm into the position-based impedance control method to realize the dual control of force and position, and the stability and convergence analysis of the proposed cooperative control system is given. Finally, we verified through simulation that this control scheme can realize the precise control of the position and contact force the manipulator.
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Acknowledgments
This research is supported by National Natural Science Foundation of China (Grant No. 62003222) and Liaoning Provincial Department of Education Service Local Project (LFGD2020004).
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Wang, Y., Huang, X., Liu, Z., Yang, J., Li, K., Wang, S. (2022). Force Coordination Control of Dual-Arm Robot Based on Modified Sliding Mode Impedance Control. In: Liu, H., et al. Intelligent Robotics and Applications. ICIRA 2022. Lecture Notes in Computer Science(), vol 13455. Springer, Cham. https://doi.org/10.1007/978-3-031-13844-7_14
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DOI: https://doi.org/10.1007/978-3-031-13844-7_14
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