A dual-arm manipulation strategy using position/force errors and Kalman filter
Journal
Transactions of the Institute of Measurement and Control
Journal Volume
44
Journal Issue
4
Pages
820-834
Date Issued
2022
Author(s)
Abstract
This paper presents a new coordination manipulation strategy for a custom-made dual-arm robot. With master and slave coordination infrastructure, both spatial relation and sense of touch are considered to hold an object stably. Given the known trajectory of the master arm, the slave arm fuses position and force commands by using the Kalman filter to yield optimal compensation amounts. The proposed strategy has been experimentally evaluated, and the results confirm that it was capable of dealing with fragile and flexible objects. In addition, the influence of the loop time of the digital controller on force control for this task was also investigated in mathematical and simulated ways. Furthermore, a series of experiments were designed to explore the effects that have influences on errors in force control. The main factors that affect force control error were analyzed. ? The Author(s) 2021.
Subjects
hybrid control
Kalman filters
manipulators
Robotics
systems integration
Errors
Force control
Coordination infrastructure
Digital controllers
Dual-arm manipulation
Flexible object
Manipulation strategy
Optimal compensations
Sense of touch
Spatial relations
SDGs
Type
journal article