Indirect adaptive impedance control for dual-arm cooperative manipulation

Mantian Li; Kun Li; Pengfei Wang; Yizhou Liu; Fusheng Zha; Wei Guo

doi:10.1109/ICARM.2017.8273239

Indirect adaptive impedance control for dual-arm cooperative manipulation

Mantian Li
, Kun Li
, Pengfei Wang^*
, Yizhou Liu
, Fusheng Zha
, Wei Guo

^*Corresponding author for this work

School of Mechatronics Engineering

Harbin Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

8 Scopus citations

Abstract

This paper propose an indirect adaptive strategy with impedance control for dual-arm cooperative manipulation, this method generates the desired position of two end-effectors despite lack of object's stiffness, and this position satisfies the requirement of the contact force. Besides, the target force applied by two arms can be determined through force distribution, while the target force tracking can be achieved by impedance controller. Compared with the original impedance control algorithm, this method has stronger adaptability, smaller deviation, and can achieve better tracking of the target force. Simulations are done on two 6-dof robots in Adams and Matlab, the results show the merits of the control algorithm.

Original language	English
Title of host publication	2017 2nd International Conference on Advanced Robotics and Mechatronics, ICARM 2017
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	650-655
Number of pages	6
ISBN (Electronic)	9781538632604
DOIs	https://doi.org/10.1109/ICARM.2017.8273239
State	Published - 2 Jul 2017
Event	2nd International Conference on Advanced Robotics and Mechatronics, ICARM 2017 - Hefei and Tai'an, China Duration: 27 Aug 2017 → 31 Aug 2017

Publication series

Name	2017 2nd International Conference on Advanced Robotics and Mechatronics, ICARM 2017
Volume	2018-January

Conference

Conference	2nd International Conference on Advanced Robotics and Mechatronics, ICARM 2017
Country/Territory	China
City	Hefei and Tai'an
Period	27/08/17 → 31/08/17

Keywords

dual-arm
force tracking
impedance control
indirect adaptive

Access to Document

10.1109/ICARM.2017.8273239

Cite this

Li, M., Li, K., Wang, P., Liu, Y., Zha, F., & Guo, W. (2017). Indirect adaptive impedance control for dual-arm cooperative manipulation. In 2017 2nd International Conference on Advanced Robotics and Mechatronics, ICARM 2017 (pp. 650-655). (2017 2nd International Conference on Advanced Robotics and Mechatronics, ICARM 2017; Vol. 2018-January). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICARM.2017.8273239

@inproceedings{0b7603e0d4ff4bdabfdfe644caa9878d,

title = "Indirect adaptive impedance control for dual-arm cooperative manipulation",

abstract = "This paper propose an indirect adaptive strategy with impedance control for dual-arm cooperative manipulation, this method generates the desired position of two end-effectors despite lack of object's stiffness, and this position satisfies the requirement of the contact force. Besides, the target force applied by two arms can be determined through force distribution, while the target force tracking can be achieved by impedance controller. Compared with the original impedance control algorithm, this method has stronger adaptability, smaller deviation, and can achieve better tracking of the target force. Simulations are done on two 6-dof robots in Adams and Matlab, the results show the merits of the control algorithm.",

keywords = "dual-arm, force tracking, impedance control, indirect adaptive",

author = "Mantian Li and Kun Li and Pengfei Wang and Yizhou Liu and Fusheng Zha and Wei Guo",

note = "Publisher Copyright: {\textcopyright} 2017 IEEE.; 2nd International Conference on Advanced Robotics and Mechatronics, ICARM 2017 ; Conference date: 27-08-2017 Through 31-08-2017",

year = "2017",

month = jul,

day = "2",

doi = "10.1109/ICARM.2017.8273239",

language = "英语",

series = "2017 2nd International Conference on Advanced Robotics and Mechatronics, ICARM 2017",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "650--655",

booktitle = "2017 2nd International Conference on Advanced Robotics and Mechatronics, ICARM 2017",

address = "美国",

}

Li, M, Li, K, Wang, P, Liu, Y, Zha, F & Guo, W 2017, Indirect adaptive impedance control for dual-arm cooperative manipulation. in 2017 2nd International Conference on Advanced Robotics and Mechatronics, ICARM 2017. 2017 2nd International Conference on Advanced Robotics and Mechatronics, ICARM 2017, vol. 2018-January, Institute of Electrical and Electronics Engineers Inc., pp. 650-655, 2nd International Conference on Advanced Robotics and Mechatronics, ICARM 2017, Hefei and Tai'an, China, 27/08/17. https://doi.org/10.1109/ICARM.2017.8273239

Indirect adaptive impedance control for dual-arm cooperative manipulation. / Li, Mantian; Li, Kun; Wang, Pengfei et al.
2017 2nd International Conference on Advanced Robotics and Mechatronics, ICARM 2017. Institute of Electrical and Electronics Engineers Inc., 2017. p. 650-655 (2017 2nd International Conference on Advanced Robotics and Mechatronics, ICARM 2017; Vol. 2018-January).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Indirect adaptive impedance control for dual-arm cooperative manipulation

AU - Li, Mantian

AU - Li, Kun

AU - Wang, Pengfei

AU - Liu, Yizhou

AU - Zha, Fusheng

AU - Guo, Wei

PY - 2017/7/2

Y1 - 2017/7/2

N2 - This paper propose an indirect adaptive strategy with impedance control for dual-arm cooperative manipulation, this method generates the desired position of two end-effectors despite lack of object's stiffness, and this position satisfies the requirement of the contact force. Besides, the target force applied by two arms can be determined through force distribution, while the target force tracking can be achieved by impedance controller. Compared with the original impedance control algorithm, this method has stronger adaptability, smaller deviation, and can achieve better tracking of the target force. Simulations are done on two 6-dof robots in Adams and Matlab, the results show the merits of the control algorithm.

AB - This paper propose an indirect adaptive strategy with impedance control for dual-arm cooperative manipulation, this method generates the desired position of two end-effectors despite lack of object's stiffness, and this position satisfies the requirement of the contact force. Besides, the target force applied by two arms can be determined through force distribution, while the target force tracking can be achieved by impedance controller. Compared with the original impedance control algorithm, this method has stronger adaptability, smaller deviation, and can achieve better tracking of the target force. Simulations are done on two 6-dof robots in Adams and Matlab, the results show the merits of the control algorithm.

KW - dual-arm

KW - force tracking

KW - impedance control

KW - indirect adaptive

UR - https://www.scopus.com/pages/publications/85050772708

U2 - 10.1109/ICARM.2017.8273239

DO - 10.1109/ICARM.2017.8273239

M3 - 会议稿件

AN - SCOPUS:85050772708

T3 - 2017 2nd International Conference on Advanced Robotics and Mechatronics, ICARM 2017

SP - 650

EP - 655

BT - 2017 2nd International Conference on Advanced Robotics and Mechatronics, ICARM 2017

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2nd International Conference on Advanced Robotics and Mechatronics, ICARM 2017

Y2 - 27 August 2017 through 31 August 2017

ER -

Li M, Li K, Wang P, Liu Y, Zha F , Guo W. Indirect adaptive impedance control for dual-arm cooperative manipulation. In 2017 2nd International Conference on Advanced Robotics and Mechatronics, ICARM 2017. Institute of Electrical and Electronics Engineers Inc. 2017. p. 650-655. (2017 2nd International Conference on Advanced Robotics and Mechatronics, ICARM 2017). doi: 10.1109/ICARM.2017.8273239

Indirect adaptive impedance control for dual-arm cooperative manipulation

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