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

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  • Multi Point Compliance Control for Dual

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Abstract

The present paper proposes a compliance control method utilizing kinematic redundancy of the dual-arm robot. When the dual-arm robot is performing a given task which requires not only the object compliant motion but also the compliant motion of several points on the links of the dual-arm robot, it is needed to control the object compliance and the compliance of those points simultaneously. The method presented here can regulate the compliance of several points on the dual-arm robot as well as the object compliance through regulation of the joint stiffness. The rigid object manipulated by the dual-arm robot can be modeled as a virtual link depending on the size of the object and the contact type between the object and the end-effectors. As a result, the points on the links of the dual-arm robot can be regarded as the virtual point objects grasped by the virtual dual-arm robots, and the compliance control for the virtual objects can be developed as well as the object compliance control. The forward relationship from the joint compliance matrix to the multi-object compliance matrix is formalized, and then the general solution of the inverse problem, that is to specify the joint servo gain of the dual-arm robot to achieve, as close as possible, the desired multi-object compliance is presented. To demonstrate the effectiveness of the proposed method, the simulation experiments are performed.

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