Two-level variable impedance control for internal/External forces tracking of dual-arm manipulators under...

Area of Science:

• Robotics and Control Systems
• Mechatronics
• Artificial Intelligence

Background:

• Coordinated dual-arm manipulation is crucial for advanced robotic applications, but precise force control remains challenging due to disturbances and system uncertainties.
• Existing control methods struggle with internal and external force regulation during complex cooperative tasks.

Purpose of the Study:

• To develop and validate a robust two-level adaptive variable impedance control system for precise internal and external force tracking in dual-arm manipulators.
• To enhance manipulator flexibility, compliance, and disturbance rejection capabilities in uncertain environments.

Main Methods:

• Implementation of a two-level adaptive variable impedance control architecture.
• Design of an object-level hybrid impedance controller for adaptive trajectory adjustment.
• Development of a manipulator-level force feedback variable impedance controller (FFVIC) with adaptive damping coefficient adjustment.

Main Results:

• The proposed control scheme successfully regulated both internal and external forces in dual-arm manipulator systems.
• Experimental validation demonstrated superior force-tracking performance of the FFVIC compared to traditional impedance controllers.
• Theoretical analysis confirmed the asymptotic stability of the system using the Routh stability criterion.

Conclusions:

• The two-level adaptive variable impedance control system effectively addresses challenges in dual-arm manipulator coordinated operation.
• The FFVIC offers enhanced force-tracking capabilities, making it suitable for tasks requiring high precision and adaptability.
• The study validates the proposed method's superiority and robustness in real-world cooperative robotic scenarios.