Abstract
In this brief, cooperative control is investigated for dual-arm robots collaboratively transferring an object, whose position and velocity are constrained. With the aid of the system transformation technique, the problem of gripped object's position and velocity constraint is transformed into the problem of the boundedness of the newly constructed system. On the other hand, due to the redundancy configurations of the dual-arm robots, the grasping force allocation of the left and right arms is not unique. As a result, an optimal torque allocation strategy in Cartesian space is further designed, ensuring the uniqueness of the torques calculated by our designed cooperative control method. With our proposed cooperative control scheme, not only the gripped object's trajectory tracking is achieved, but also its position and velocity constraints are maintained.
| Original language | English |
|---|---|
| Pages (from-to) | 3051-3055 |
| Number of pages | 5 |
| Journal | IEEE Transactions on Circuits and Systems II: Express Briefs |
| Volume | 71 |
| Issue number | 6 |
| Early online date | 12 Jan 2024 |
| DOIs | |
| Publication status | Published - Jun 2024 |
| Externally published | Yes |
Bibliographical note
Publisher Copyright:© 2004-2012 IEEE.
Funding
This work was supported in part by the National Key Research and Development Program of China under Grant 2022YFB4701400/4701401; in part by the National Natural Science Foundation of China under Grant 62103322, Grant 61991400, Grant 61991403, Grant 62250710167, Grant 61860206008, and Grant 61933012; in part by the CAAI-Huawei MindSpore Open Fund; in part by CAST-Young Elite Scientists Sponsorship Program under Grant 2023QNRC001; and in part by the Fundamental Research Funds for the Central Universities under Grant 2022CDJKYJH019 and Grant 2022CDJKYJH051.
Keywords
- cooperative control
- Dual-arm robots
- position and velocity constraints
- torque allocation optimization