An admittance based hierarchical control framework for dual-arm cobots - Archive ouverte HAL Accéder directement au contenu
Article Dans Une Revue Mechatronics Année : 2022

An admittance based hierarchical control framework for dual-arm cobots

Sonny Tarbouriech
Benjamin Navarro
Philippe Fraisse
André Crosnier
  • Fonction : Auteur
  • PersonId : 938570
Andrea Cherubini
Damien Sallé
  • Fonction : Auteur
  • PersonId : 1211075

Résumé

Dual-arm robotic platforms have solid arguments to match the growing need for versatility in the industry. Coupling the control of two manipulators for cooperative purposes enlarges the scope of feasible operations, while adding perception capabilities allows to navigate in dynamic environments. In this respect, we propose a complete online kinematic control framework for dual-arm robots operating in unstructured industrial settings. We base our approach on admittance control in the cooperative task space. Regulating internal and external efforts offer safe bimanual task execution and enables physical interaction. We implement a hierarchical quadratic programming architecture that applies a prioritization of tasks: most efforts are concentrated on the proper tracking of relative motions of the arms, which is the most critical for safety reasons. We demonstrate the performance of our framework through a “teaching-by-demonstration” experiment on the dual-arm mobile cobot BAZAR.
Fichier principal
Vignette du fichier
article.pdf (17.16 Mo) Télécharger le fichier
Origine : Fichiers produits par l'(les) auteur(s)
Loading...

Dates et versions

hal-02887280 , version 1 (02-07-2020)

Identifiants

Citer

Sonny Tarbouriech, Benjamin Navarro, Philippe Fraisse, André Crosnier, Andrea Cherubini, et al.. An admittance based hierarchical control framework for dual-arm cobots. Mechatronics, 2022, 86, pp.102814. ⟨10.1016/j.mechatronics.2022.102814⟩. ⟨hal-02887280⟩
138 Consultations
83 Téléchargements

Altmetric

Partager

Gmail Facebook X LinkedIn More