Admittance Control of Dual-arm Cooperative Platform

Abstract

The developing requst for flexibility in industrial production leads to the new development of the robotic system in varieable environments. Collaborative Robot can improve the safety and lower manufacturing costs. In this context, base the feedback force information of the end of the manipulator, the active compliance control strategy was adopted to control the force. A position-based impedance control model was proposed. Through position compensation, the dynamic contact relationship between the end of the manipulator and the environment was dynamically adjusted to correct the interference effect of external force on the system. Our approach aims at improving the performance of the task by acting on two levels: estimating and compensating effects on each side.