TY - GEN
T1 - A Dynamic Adaptive Impedance Controller for Force Tracking of Dual-arm Manipulators in Uncertain Contact Environment
AU - Song, Xiaogang
AU - Mao, Huan
AU - Huang, Hailin
AU - Xu, Wenfu
AU - Li, Bing
N1 - Publisher Copyright:
© 2021 IEEE.
PY - 2021
Y1 - 2021
N2 - In this paper, to deal with the internal force and external force control problem of dual-arm manipulators holding an object interacting with the uncertain dynamic environment, a dual-loop dynamic adaptive impedance controller which consists inner loop controller and outer loop controller is presented. The inner loop controller and outer loop controller are applied to control the internal force and external force of dual-arm cooperative system respectively. In order to eliminate overshoot and improve the response speed of force tracking when using the traditional impedance control (IC) or adaptive impedance control (AIC), a dynamic adaptive impedance controller is proposed. A force signal filtering method based on Kalman filter is used to solve the problem of random noise interference. Compared with the dual-arm force controller based on IC or AIC, the proposed dual-loop dynamic adaptive impedance controller can realize faster force tracking without overshoot. Simulations and physical experiments are conducted to show the performance of the proposed controller.
AB - In this paper, to deal with the internal force and external force control problem of dual-arm manipulators holding an object interacting with the uncertain dynamic environment, a dual-loop dynamic adaptive impedance controller which consists inner loop controller and outer loop controller is presented. The inner loop controller and outer loop controller are applied to control the internal force and external force of dual-arm cooperative system respectively. In order to eliminate overshoot and improve the response speed of force tracking when using the traditional impedance control (IC) or adaptive impedance control (AIC), a dynamic adaptive impedance controller is proposed. A force signal filtering method based on Kalman filter is used to solve the problem of random noise interference. Compared with the dual-arm force controller based on IC or AIC, the proposed dual-loop dynamic adaptive impedance controller can realize faster force tracking without overshoot. Simulations and physical experiments are conducted to show the performance of the proposed controller.
KW - dual-loop impedance control
KW - dynamic adaptive impedance control
KW - uncertain contact environment
UR - https://www.scopus.com/pages/publications/85128221885
U2 - 10.1109/ROBIO54168.2021.9739443
DO - 10.1109/ROBIO54168.2021.9739443
M3 - 会议稿件
AN - SCOPUS:85128221885
T3 - 2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021
SP - 1674
EP - 1681
BT - 2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021
Y2 - 27 December 2021 through 31 December 2021
ER -