Compliant Control for the Redundant Dual-Arm Live-Working Robot

Huan Bing Gao; Shou Yin Lu; Guo Hui Tian

doi:10.4028/www.scientific.net/AMM.459.177

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 459Compliant Control for the Redundant Dual-Arm...

Compliant Control for the Redundant Dual-Arm Live-Working Robot

Abstract:

Two arms are attached on the live-working robot for cooperating jobs and some task requiring larger stiffness such as pushing and butting when replacing cross arm or insulator. The different kinematic structure of this two arms brings many difficulties to get the dynamic model of the total system. This paper proposes a force control method to solve this problem. Two arms are considered as one arm firstly, then the general stiffness matrix is obtained. And based on the compliant relationship between the dual arms and the environment, the force control method for the exact force control is presented. The scheme is experimentally tested on the live-working robot, and the effectiveness and rapidity is validated .

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Periodical:

Applied Mechanics and Materials (Volume 459)

Pages:

177-182

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.459.177

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Online since:

October 2013

Authors:

Huan Bing Gao*, Shou Yin Lu, Guo Hui Tian

Keywords:

Compliant Control, Dual Arm, Live-Working Robot

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References

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