Cooperative Control for Dual-Arm Robots Based on Improved Dynamic Movement Primitives

In this article, a cooperative control scheme for a dual-arm robotic system is proposed to manipulate various objects, where a vision system is utilized to compensate for the uncertainties of manipulated objects. In the proposed strategy, improved dynamic movement primitives (DMPs) are designed to a...

Full description

Saved in:
Bibliographic Details
Published inIEEE transactions on industrial electronics (1982) pp. 1 - 11
Main Authors Wang, Dong, Qiu, Chaochao, Lian, Jie, Wan, Weiwei, Pan, Qinghui, Dong, Yongxiang
Format Journal Article
LanguageEnglish
Published IEEE 31.07.2024
Subjects
Cooperative control
dual-arm robotic system
dynamic movement primitives (DMPs)
End effectors
impedance control
Manipulator dynamics
Robot kinematics
Robots
Service robots
Task analysis
Trajectory
visual perception
Online AccessGet full text

Cover

More Information
Summary:In this article, a cooperative control scheme for a dual-arm robotic system is proposed to manipulate various objects, where a vision system is utilized to compensate for the uncertainties of manipulated objects. In the proposed strategy, improved dynamic movement primitives (DMPs) are designed to achieve dual-arm robot trajectory learning and generalization. This method solves the problem of excessive initial acceleration in classic DMPs methods while ensuring fast convergence of motion trajectories. Furthermore, the impedance control is employed to adjust the contact force between the robotic manipulator and the object, aiming to achieve compliant control. To verify the feasibility and effectiveness of the proposed scheme, a humanoid dual-arm robotic system is set up with two Kinova MICO manipulators. Experimental results demonstrate that the proposed method successfully completes transportation tasks, highlighting its potential for enhancing robotic manipulation capabilities.
ISSN:0278-0046
1557-9948
DOI:10.1109/TIE.2024.3406866