Neuro-Adaptive Cooperative Control for Dual-Arm Robots With Position and Velocity Constraints: An Optimal Torque Allocation Approach

被引:4
作者
Cao, Ye [1 ,2 ]
Hu, Heyu [3 ]
Song, Yongduan [4 ]
机构
[1] Lanzhou Jiaotong Univ, Sch Elect & Informat Engn, Xian 710049, Peoples R China
[2] Star Inst Intelligent Syst, Chongqing 400044, Peoples R China
[3] Zhongyuan Univ Technol, Zhongyuan Petersburg Aviat Coll, Zhengzhou 450007, Peoples R China
[4] Chongqing Univ, Sch Automat, Chongqing, Peoples R China
关键词
Dual-arm robots; cooperative control; position and velocity constraints; torque allocation optimization; MANIPULATORS; FORCE;
D O I
10.1109/TCSII.2024.3353529
中图分类号
TM [电工技术]; TN [电子技术、通信技术];
学科分类号
0808 ; 0809 ;
摘要
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.
引用
收藏
页码:3051 / 3055
页数:5
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