Adaptive Compliance Control of Dual-arm Robot for Cooperative Handling Task

This paper proposes a position planning method based on adaptive admittance control for the collaborative handling problem of a dual-arm robot. The method involves constructing a kinematic model of the symmetrical robotic arm system using DH parameters and designing an adaptive admittance controller with the ability to dynamically adjust parameters. The controller ensures that the robot maintains a predetermined contact force with the object being operated on within an acceptable range. Simulation experiments on the Powertool system validate the effectiveness of this method.