Neuro-Adaptive Cooperative Control for Dual-Arm Robots With Position and Velocity Constraints: An Optimal Torque Allocation Approach

摘要

In this paper, cooperative control is investigated for dual-arm robots collaboratively transferring an object, whose position and velocity are constrained. With the aid of the system transformation technique, the problem of gripped object’s position and velocity constraint is transformed into the problem of the boundedness of the newly constructed system. On the other hand, due to the redundancy configurations of the dual-arm robots, the grasping force allocation of the left and right arms is not unique. As a result, an optimal torque allocation strategy in Cartesian space is further designed, ensuring the uniqueness of the torques calculated by our designed cooperative control method. With our proposed cooperative control scheme, not only the gripped object’s trajectory tracking is achieved, but also its position and velocity constraints are maintained.