Dual-Arm Compliance Control with Robust Force Decomposition

William Freidank, William Freidank, Konrad Ahlin, Stephen Balakirsky

2023

Abstract

Realtime, compliant control of dual-arm robots has been an open area of investigation for versatile object manipulation. Recent research has focused on leader-follower, hybrid, and impedance control techniques. This paper proposes a guaranteed-convergence artificial potential field in order to leverage its advantages in computational speed and functional quality. Additionally, compliance control is integrated using a novel force decomposition method. Experiments are performed on a 14 Degree-of-Freedom (DoF) dual-carriage rail, with two UR5e robots to validate the new method’s accuracy and demonstrate the feasibility of the unified controller.

Paper Citation

in Harvard Style

Freidank W., Ahlin K. and Balakirsky S. (2023). Dual-Arm Compliance Control with Robust Force Decomposition. In Proceedings of the 20th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO; ISBN 978-989-758-670-5, SciTePress, pages 616-623. DOI: 10.5220/0012177300003543

in Bibtex Style

@conference{icinco23,
author={William Freidank and Konrad Ahlin and Stephen Balakirsky},
title={Dual-Arm Compliance Control with Robust Force Decomposition},
booktitle={Proceedings of the 20th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO},
year={2023},
pages={616-623},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0012177300003543},
isbn={978-989-758-670-5},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 20th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO
TI - Dual-Arm Compliance Control with Robust Force Decomposition
SN - 978-989-758-670-5
AU - Freidank W.
AU - Ahlin K.
AU - Balakirsky S.
PY - 2023
SP - 616
EP - 623
DO - 10.5220/0012177300003543
PB - SciTePress