A novel dual-arm adaptive cooperative control framework for carrying variable loads and active anti-overturning

Abstract

This paper aims to tackle the issue of carrying variable loads and disturbances in an impedance-based dual-arm robot. When robots are engaged in transportation tasks, deviations in trajectory due to changing loads and the risk of objects falling under external disturbances or unstable gripping can lead to mission failure. To address these issues, a novel Dual-Arm Adaptive Cooperative Control Framework (ACCF) is proposed. The ACCF is designed to ensure adherence to trajectory constraints in the presence of load variations and to actively respond to sliding or overturning caused by disturbances. The framework is user-friendly and robust, featuring a two-loop arrangement. The inner-loop incorporates an adaptive force control law to robustly control internal forces for dual-arm gripping. The outer-loop utilizes centralized impedance control, incorporating a fast gravity estimation scheme to compensate for trajectory deviations and an active anti-overturning scheme to resist sliding or overturning of objects during disturbances. Experimental evaluations and comparisons are conducted. The results successfully demonstrate the ACCF's adaptability under variable loads and external disturbances, providing a solution for practical dual-arm applications, such as transportation, in future scenarios.