Relative Impedance Control for Dual-Arm Robots Performing Asymmetric Bimanual Tasks

Journal article

Authors / Editors

Jamisola, Rodrigo

Research Areas

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Publication Details

Author list: Lee J, Chang PH, Jamisola RS

Publisher: Institute of Electrical and Electronics Engineers (IEEE)

Place: PISCATAWAY

Publication year: 2014

Journal: IEEE Transactions on Industrial Electronics (0278-0046)

Journal acronym: IEEE T IND ELECTRON

Volume number: 61

Issue number: 7

Start page: 3786

End page: 3796

Number of pages: 11

ISSN: 0278-0046

Languages: English-Great Britain (EN-GB)

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Abstract

This paper presents a method of implementing impedance control (with inertia, damping, and stiffness terms) on a dual-arm system by using the relative Jacobian technique. The proposed method significantly simplifies the control implementation because the dual arm is treated as a single manipulator, whose end-effector motion is defined by the relative motion between the two end effectors. As a result, task description becomes simpler and more intuitive when specifying the desired impedance and the desired trajectories. This is the basis for the relative impedance control. In addition, the use of time-delay estimation enhances ease of implementation of our proposed method to a physical system, which would have been otherwise a very tedious and complicated process.

Keywords

Asymmetric bimanual task (ABT), dual arm, ideal-velocity feedback (IVF), impedance control, Relative Jacobian, time-delay estimation (TDE)

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