Adaptive Hybrid Impedance Control for A Dual-arm Robot Manipulating An Unknown Object

摘要

In this paper, a novel adaptive hybrid impedance control for a dual-arm robot is proposed to cooperatively manipulate unkown objects. This adaptive hybrid control scheme could be employed to improve motion tracking and internal force regulation performance when dual-arm cooperative robot grasping an unknown object. The controller has a master-slave structure, and we investigate the master-slave structure in three levels. The first level is an absolute-relative motion controller satifying the closed-chain constraints. The second level introduces an adaptive impedance control with variable stiffness to regulate the internal force. The motion and force control signals are fused in the third level by a select matrix. To verify the effectiveness of the algorithm, a dual-arm robotic system is set up with two UR5 arms and the experimental results illustrate the performance and feasibility of the proposed control strategy.