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Related Experiment Video

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The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy

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Published on: October 14, 2017

Dual-Arm Coordinated Control Strategy Based on Modified Sliding Mode Impedance Controller.

Xuefei Liu¹, Xiangrong Xu¹, Zuojun Zhu¹

¹School of Mechanical Engineering, Anhui University of Technology, Ma'anshan 243032, China.

Sensors (Basel, Switzerland)

|July 24, 2021

Summary

A new control algorithm for dual-arm robots improves handling accuracy using a modified sliding mode impedance controller. This method enhances trajectory tracking and reduces vibrations for precise object manipulation.

Keywords:

coordinated operation dual-arm robots impedance control sliding mode control target object

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Area of Science:

Robotics
Control Systems Engineering
Mechatronics

Background:

Dual-arm robots require precise position and force control for object handling tasks.
Conventional control methods can suffer from chattering and torque fluctuations.

Purpose of the Study:

To propose a novel control algorithm for dual-arm robots to achieve high-accuracy position/force control.
To enhance the coordinated control strategy for dual-arm robots in handling tasks.

Main Methods:

Established combinative kinematics and unified dynamics models for dual-arm robots and the manipulated object.
Developed a coordinated control strategy using a modified sliding mode impedance controller (MSMIC) with a hyperbolic tangent switch function.
Proved controller stability and convergence using Lyapunov function theory.

Main Results:

The proposed MSMIC(tanh) controller achieved stable internal force output.
Demonstrated high-precision trajectory tracking for coordinated object transport.
Significantly reduced periodic torque and joint chattering compared to conventional sliding mode control.

Conclusions:

The modified sliding mode impedance controller offers a robust solution for dual-arm robot control.
The algorithm enables stable and accurate handling of objects by dual-arm robots.
This approach minimizes undesirable vibrations, leading to smoother robotic operations.