Control algorithm of dual arms mobile robot for cooperative works with human

We propose a motion control algorithm for the dual arm-mobile robot MR Helper, for handling an object in cooperation with a human based on impedance control. The algorithm specifies the apparent impedance of the manipulated object directly with respect to the world frame. It also specifies the apparent impedance of the mobile base relative to the object frame, so as not to influence the motion of the object. The control algorithm is implemented in MR Helper and experimental results obtained illustrate the validity of the proposed algorithm