标题：Compliant Control for the Redundant Dual-arm Live-working Robot
作者：Gao, Huanbing; Lu, Shouyin; Tian, Guohui
作者机构：[Gao, Huanbing; Tian, Guohui] Shandong Univ, Sch Control Sci & Engn, Jinan 250100, Peoples R China.; [Lu, Shouyin] Shandong Jianzhu Univ, Sch Inform 更多
会议名称：4th International Conference on Applied Mechanics and Mechanical Engineering (ICAMME 2013)
会议日期：OCT 11-12, 2013
来源：APPLIED MECHANICS AND MECHANICAL ENGINEERING IV
关键词：Compliant control; Live-working robot; Dual arm
摘要：Two arms are attached on the live-working robot for cooperating jobs and some task requiring larger stiffness such as pushing and butting when replacing cross arm or insulator. The different kinematic structure of this two arms brings many difficulties to get the dynamic model of the total system. This paper proposes a force control method to solve this problem. Two arms are considered as one arm firstly, then the general stiffness matrix is obtained. And based on the compliant relationship between the dual arms and the environment, the force control method for the exact force control is presented. The scheme is experimentally tested on the live-working robot, and the effectiveness and rapidity is validated.