In this paper, an experimental comparison between different impedance control approaches for cooperative manipulators is presented. The experiments have been performed on a dual-arm setup composed by two six-dof industrial manipulators carrying a common object. A general impedance control scheme is adopted, which encompasses a centralized impedance control strategy aimed at conferring a compliant behavior at the object level, and a decentralized impedance control, enforced at the end-effector level, aimed at avoiding large internal loading of the object. The scheme allows individual activation/deactivation of each impedance strategy. The experimental investigation concerns the four different controller configurations that can be achieved by activating/deactivating the single impedance controllers. ©2007 IEEE.
An experimental investigation on impedance control for dual-arm cooperative systems / F., Caccavale; P., Chiacchio; DE SANTIS, Agostino; A., Marino; Villani, Luigi. - ELETTRONICO. - (2007), pp. 1-6. (Intervento presentato al convegno IEEE/ASME International Conference on Advanced Intelligent Mechatronics tenutosi a Zurich, CH nel September) [10.1109/AIM.2007.4412434].
An experimental investigation on impedance control for dual-arm cooperative systems
DE SANTIS, AGOSTINO;VILLANI, LUIGI
2007
Abstract
In this paper, an experimental comparison between different impedance control approaches for cooperative manipulators is presented. The experiments have been performed on a dual-arm setup composed by two six-dof industrial manipulators carrying a common object. A general impedance control scheme is adopted, which encompasses a centralized impedance control strategy aimed at conferring a compliant behavior at the object level, and a decentralized impedance control, enforced at the end-effector level, aimed at avoiding large internal loading of the object. The scheme allows individual activation/deactivation of each impedance strategy. The experimental investigation concerns the four different controller configurations that can be achieved by activating/deactivating the single impedance controllers. ©2007 IEEE.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
