Adaptive control strategies for cooperative dual‐arm manipulators

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Abstract
The article describes three strategies for adaptive control of cooperative dual‐arm robots. In the position‐position control strategy, the adaptive controllers ensure that the end‐effector positions of both arms track desired trajectories in Cartesian space despite unknown time‐varying interaction forces exerted through the load. In the position‐hybrid control strategy, the adaptive controller of one arm controls end‐effector motions in the free directions and applied forces in the constraint directions; while the adaptive controller of the other arm ensures that the end‐effector tracks desired position trajectories. In the hybrid‐hybrid control strategy, the adaptive controllers ensure that both end‐effectors track reference position trajectories while simultaneously applying desired forces on the load. In all three control strategies, the coupling effects between the arms through the load are treated as “disturbances” which are rejected by the adaptive controllers while following desired commands in a common frame of reference. The adaptive controllers do not require the complex mathematical model of the arm dynamics or any knowledge of the arm dynamic parameters or the load parameters such as mass and stiffness. The controllers have simple structures and are computationally fast for on‐line implementation with high sampling rates. Simulation results are given to illustrate the proposed adaptive control strategies.

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