Compliant Control of Dual-Arm Robot in an Unknown Environment

Abstract

With the enrichment of robot applications, higher requirements are put forward for the performance of robots. The ability of robots to interact with the environment is becoming more and more important, such as grinding, massage, human-robot cooperation and other tasks. The traditional single-arm robot based on position control has been difficult to meet the new needs. In this paper, an impedance control method based on position closed-loop is proposed for the compliance control of dual-arm robot motion. This method detects the external force signal through the terminal torque sensor of the robot, and then changes the robot pose by the controller. This enables the dual-arm robot to reflect compliance in an unknown environment. In this paper, the effectiveness of the impedance control method based on position closed-loop is verified by simulation with a 2-DOF manipulator. Finally, experiments are carried out to verify the cooperative handling of objects by dual-arm robots. The result shows that the compliant control strategy can perform well under the external interference of unknown environment.