Dual Robotic Arm Admittance Control for Internal Stress
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Solution Overview
Problem
Dual robotic arms often fail to perform tasks due to internal stress when clamping large or heavy objects, leading to a low success rate, as the forces applied by each arm are not considered in conjunction with the internal stress between them.
Innovation Solution
Implementing admittance control on robotic arms to eliminate internal stress by adjusting joint angles based on detected end forces, using sensors to identify clamped objects and force sensors to measure applied forces, and performing admittance control in specific target directions to improve accuracy and success rate.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Force
If dual robotic arms are used to perform tasks involving large or heavy objects, then the carrying capacity is improved, but the internal stress between arms increases causing task failure
Solution Approach 1:
The patent changes the control parameters from independent end-effector force control to coordinated joint angle control that accounts for internal stress. By modifying the control approach to include stress compensation, the system maintains carrying capacity while reducing internal stress to successful task completion levels.
Solution Approach 2:
The patent implements feedback control by detecting end forces applied by each robotic arm and using this information to adjust joint angles. The force detection module provides real-time feedback on the forces applied by each arm, which the control module uses to compute appropriate joint angle adjustments that compensate for internal stress and maintain coordinated operation.
2Ease of operation
If forces applied by each robotic arm are controlled independently, then the control simplicity is improved, but the task success rate deteriorates due to unaccounted internal stress
Solution Approach 1:
The patent introduces feedback control where force sensors detect the forces applied by each robotic arm's end-effector, and this feedback is used to adjust the joint angles. This feedback mechanism enables the system to account for internal stress while maintaining a relatively simple control architecture based on force detection and joint angle coordination.
Solution Approach 2:
The control module serves multiple functions: it receives force detection information, computes joint angle adjustments, and coordinates the movement of multiple robotic arms. By integrating these functions into a unified control approach, the system achieves reliable multi-arm coordination without requiring separate complex control systems for each arm.
Data Source
AI summary
A robotic arm control method and an intelligent mobile device using the same are provided. The method includes: obtaining N end forces applied to end-effectors of N robotic arms of a robot, in response to detecting that the N robotic arms clamp the same object, where N is a natural number larger than or equal to 2; performing, according to the N end forces, an admittance control for eliminating an internal stress of the N end-effectors on the N robotic arms; and adjusting, according to results of the admittance control on the N robotic arms, joint angles of the N robotic arms. Through the above-mentioned method, the success rate of performing tasks can be improved.