Adaptive variable impedance control of dual-arm robots for slabstone installation

Area of Science:

• Robotics
• Construction Engineering
• Control Systems

Background:

• Conventional dual-arm cooperative control methods struggle with precision and adaptability in construction due to heavy loads and complex operations.
• Dual-arm robots in slabstone installation require careful management of position constraints, force coupling, and contact forces.

Purpose of the Study:

• To develop a robust control strategy for dual-arm robots to effectively perform slabstone installation.
• To address the challenges of high precision and adaptability in robotic construction tasks.

Main Methods:

• Development of a slabstone-installation model and motion element decomposition for dual-arm robots.
• Implementation of a combined adaptive variable impedance tracking controller for slabstone force/position control.
• Integration of a tracking controller for dual-arm end-effector trajectories.

Main Results:

• The proposed control strategy successfully meets the requirements for both position tracking and contact force tracking of the slabstone.
• Simulations across various slabstone installation scenarios validated the algorithm's effectiveness and compliance.

Conclusions:

• The developed algorithm provides a compliant and effective solution for dual-arm robot-assisted slabstone installation.
• The approach enhances the precision and adaptability of robotic systems in complex construction environments.