Hierarchical control of dual-arm robot parts mate

Abstract

This paper designs a hierarchical controller for dual-arm robot to pole-in-hole insertion.The controller is composed of supervisory and executive. The supervisory plans master'smovement, and at the same time calculate reference joint angle of follow through sampledinformation of master. The executive is only to execute the output of supervisory. Thecontrol of executive is similar to a single arm robot. Simulation results show that usingthis hierarchical controller, the dual-arm robot can complete pole-in-hole insertion smoothly