An admittance based hierarchical control framework for dual-arm cobots

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URI: https://hdl.handle.net/11556/4145
ISSN: 0957-4158
DOI: 10.1016/j.mechatronics.2022.102814
Publication date
2022-10
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Abstract
Dual-arm robotic platforms have solid arguments to match the growing need for versatility in the industry. Coupling the control of two manipulators for cooperative purposes enlarges the scope of feasible operations, while adding perception capabilities allows to navigate in dynamic environments. In this respect, we propose a complete online kinematic control framework for dual-arm robots operating in unstructured industrial settings. We base our approach on admittance control in the cooperative task space. Regulating internal and external efforts offer safe bimanual task execution and enables physical interaction. We implement a hierarchical quadratic programming architecture that applies a prioritization of tasks: most efforts are concentrated on the proper tracking of relative motions of the arms, which is the most critical for safety reasons. We demonstrate the performance of our framework through a “teaching-by-demonstration” experiment on the dual-arm mobile cobot BAZAR.
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Publisher Copyright: © 2022 Elsevier Ltd
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Compliant control , Dual-arm cooperation , Physical human–robot interaction , Redundant manipulators , Control and Systems Engineering , Mechanical Engineering , Computer Science Applications , Electrical and Electronic Engineering , SDG 9 - Industry, Innovation, and Infrastructure
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journal article
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Tarbouriech , S , Navarro , B , Fraisse , P , Crosnier , A , Cherubini , A & Sallé , D 2022 , ' An admittance based hierarchical control framework for dual-arm cobots ' , Mechatronics , vol. 86 , 102814 . https://doi.org/10.1016/j.mechatronics.2022.102814