Yang Zhang¹, Yingmin Jia^2
1School of Energy and Power Engineering, Beihang University (BUAA), Beijing 100191, China
²The Seventh Research Division and the Center for Information and Control, School of Automation Science and Electrical Engineering, Beihang University (BUAA), Beijing, 100191, China
pp. 1–5
ABSTRACTThe focus of this research is to propose a method known as position-based contact force synchronous control for cooperative manipulation of an object using a dual-arm manipulator. By defining relative positional and force errors between both manipulators and the object, these errors can be utilized in conjunction with a general impedance controller to enhance contact force accuracy during operation. This unique approach guarantees coordination between both arms while minimizing internal forces exerted on the object compared to conventional impedance control techniques.

ARTICLE INFO
Article History
Received 21 November 2022
Accepted 31 July 2023

Keywords
Synchronous control
Dual-arm cooperative manipulator
Force control
Relative error

JRNAL10101

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