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Object impedance control for cooperative manipulation: theory and experimental results

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2 Author(s)
S. A. Schneider ; Dept. of Electr. Eng., Stanford Univ., CA, USA ; R. H. Cannon

The dynamic control module of the Dynamic and Strategic Control of Cooperating Manipulators (DASCCOM) project for aerospace robotics is presented. The cooperative manipulation problem is analyzed from a systems perspective, and the desirable features of a control system for cooperative manipulation are discussed. A control policy is developed that enforces a controlled impedance not of the individual arm endpoints, but of the manipulated object itself. A parallel implementation for a multiprocessor system is presented. The controller fully compensates for the system dynamics and directly controls the object internal forces. Most importantly, it presents a simple, powerful, intuitive interface to higher level strategic control modules. Experimental results from a dual two-link-arm robotic system show the effectiveness of the object impedance controller compared to other strategies, both for free-motion slews and environmental contact

Published in:

IEEE Transactions on Robotics and Automation  (Volume:8 ,  Issue: 3 )