Compliant control method for multi-arm cooperative operation

Abstract

The invention discloses a multi-arm cooperative operation compliance control method, which includes: obtaining the external force observation value of each mechanical arm of the cooperative operation and the external force observation value of the operation object; determining the operation object according to the admittance model of the operation object and the external force observation value Planning pose; determine the motion decomposition relationship between each robotic arm based on the position constraints between each robotic arm, and determine the expected pose of the end of each robotic arm according to the motion decomposition relationship and the planned pose of the work object; according to the robotic arm The admittance model and the external force observation value respectively determine the planned pose of the end of each manipulator; determine the expected angle of each joint on each manipulator according to the expected pose and the inverse solution of the planned pose at the end of each manipulator, Determine the rotation angle control amount of the joint according to the current angle and the expected angle of the joint. The multi-arm cooperative operation compliance control method comprehensively considers the movement coordination requirements between the multi-arms, and realizes the precise compliance control under the cooperative operation.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a method for controlling compliance of multi-arm cooperative operations. Background technique [0002] The robotic arm is a multi-input multi-output, highly nonlinear, and strongly coupled complex system. Because of its unique flexibility, it is increasingly used in industrial fields. Compared with traditional single-arm robots, dual-arm robots can achieve different spatial poses and cooperate to complete various complex tasks, gradually occupying a mainstream position in industrial production. [0003] With the introduction of the concept of collaborative robots, human-machine collaborative operation scenarios are becoming more and more common. In the collaborative operation process of each mechanical arm of the dual-arm robot, it is necessary to ensure the safety of the operator, and strict dual control requirements are put forward for the position and force of each joint of ea...

AI Technical Summary

Problems solved by technology

[0004] Most of the existing dual-arm robots are composed of two independent single-arm robots. The two single-arms are controlled independently, and only one single-arm is taken into consideration as the position interference source of the other single-arm. Insufficient and difficult to meet precise operations, and prone to collisions, injuries, and property accidents, there are serious safety risks

In addition, the existing dual-arm robots generally use force sensors to achieve compliant control, which has high cost and low precision.

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