Multi-point Compliance Control Of Dual-arm Robots

摘要

One of the basic characteristics of the dual-arm robots which manipulate a common object is the redundancy of joint degrees of freedom The present paper proposes a compliance control method utilizing kinematic redundancy of the dual-arm robot. The method presented here can regulate the compliance or stiffness of several points on the dual arm- robot as well as the object compliance through regulation of the joint stiffness.