COM control of dual arm robot using COM Jacobian

This paper proposes a set-point regulation method for a center-of-mass of a dual arm robot composed of a waist and arms. The COM can be controlled by using a COM Jacobian which relates to the joint motion and the COM motion. It requires a 3 degree-of-freedom to control the COM. However, as the dual arm robot has much more than the 3 DOF in general a redundant problem is encountered. This problem solved by a control scheme based on a virtual spring damper hypothesis which is the suitable controller for the redundant manipulator control. The proposed method enables the COM of the dual arm robot to maintain the desired COM even though the external forces are applied on the robot. A simulation to validate the proposed method is performed with the 18 DOF dual arm robot.