In this paper an impedance control scheme for cooperative manipulators is experimentally verified on a dual-arm setup. An impedance behaviour is enforced at the object level to confer a compliant behaviour when interaction with the external environment occurs. Moreover, in order to avoid large internal loading of the object, an impedance behaviour is enforced at the end-effector level. The overall control scheme is based on a two-loops arrangement, where a simple PID inner motion loop is adopted for each manipulator, while an outer loop, using force and moment measurements at the robots wrists, is aimed at imposing the desired impedance behaviours. Experiments have been performed on a dual-arm setup composed by two industrial six-DOF manipulators.
Experiments of Impedance Control for a Dual-Arm Cooperative System
CACCAVALE, Fabrizio;MARINO, ALESSANDRO;
2008-01-01
Abstract
In this paper an impedance control scheme for cooperative manipulators is experimentally verified on a dual-arm setup. An impedance behaviour is enforced at the object level to confer a compliant behaviour when interaction with the external environment occurs. Moreover, in order to avoid large internal loading of the object, an impedance behaviour is enforced at the end-effector level. The overall control scheme is based on a two-loops arrangement, where a simple PID inner motion loop is adopted for each manipulator, while an outer loop, using force and moment measurements at the robots wrists, is aimed at imposing the desired impedance behaviours. Experiments have been performed on a dual-arm setup composed by two industrial six-DOF manipulators.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
