A Dynamic Adaptive Impedance Controller for Force Tracking of Dual-arm Manipulators in Uncertain Contact Environment

Abstract

In this paper, to deal with the internal force and external force control problem of dual-arm manipulators holding an object interacting with the uncertain dynamic environment, a dual-loop dynamic adaptive impedance controller which consists inner loop controller and outer loop controller is presented. The inner loop controller and outer loop controller are applied to control the internal force and external force of dual-arm cooperative system respectively. In order to eliminate overshoot and improve the response speed of force tracking when using the traditional impedance control (IC) or adaptive impedance control (AIC), a dynamic adaptive impedance controller is proposed. A force signal filtering method based on Kalman filter is used to solve the problem of random noise interference. Compared with the dual-arm force controller based on IC or AIC, the proposed dual-loop dynamic adaptive impedance controller can realize faster force tracking without overshoot. Simulations and physical experiments are conducted to show the performance of the proposed controller.