Cartesian Space Synchronous Impedance Control of Two 7-DOF robot arm manipulators

Author

Minghe Jin ; Zijian Zhang ; Fenglei Ni ; Hong Liu

Author_Institution

State Key Lab. of Robot. & Syst., Harbin Inst. of Technol., Harbin, China

fYear

2014

fDate

14-18 Sept. 2014

Firstpage

4750

Lastpage

4756

Abstract

In the paper, a new method named Cartesian Space Synchronous Impedance Control (CSSIC) has been developed. The method combines the synchronous control and the impedance control together which can not only be used in the position control but can also realize the purpose of force control of the system with multi-manipulators. Therefore, if there are multi-manipulators grasping the same object, it can ensure the object will not fall and not be destroyed. The mathematical validation process and the stability proof of the method have been given. Besides, an experiment setup which has two 7-DOF robot arms has been established to testify the method. The testing result shows that the dual arm system, under disturbance, can ensure stable grasping of the object with the CSSIC method.

Keywords

force control; manipulators; multi-robot systems; position control; 7-DOF robot arm manipulators; CSSIC method; Cartesian space synchronous impedance control; force control; mathematical validation process; multimanipulators; position control; stability proof; Aerospace electronics; Equations; Impedance; Manipulators; Mathematical model; Robot kinematics;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems (IROS 2014), 2014 IEEE/RSJ International Conference on

Conference_Location

Chicago, IL

Type

conf

DOI

10.1109/IROS.2014.6943238

Filename

6943238