Hybrid adaptive impedance-leader-follower control for multi-arm coordination manipulators

Abstract

Purpose– The purpose of this paper is to provide a hybrid adaptive impedance-leader-follower control algorithm for multi-arm coordination manipulators, which is significant for dealing with the problems of kinematics inconsistency and error accumulation of interactive force in multi-arm system.Design/methodology/approach– This paper utilized a motion mapping theory in Cartesian space to establish a centralized dynamic leader-follower control algorithm which helped to reduce the possibility of kinematics inconsistency for multiple manipulators. A virtual linear spring model (VLSM) was presented based on a recognition approach of characteristic marker. This paper accomplished an adaptive impedance control algorithm based on the VLSM, which took into account the non-rigid contact characteristic. Experimentally demonstrated results showed the proposed algorithm guarantees that the motion and interactive forces asymptotically converge to the prescribed values.Findings– The hybrid control method improves the accuracy and reliability of multi-arm coordination system, which presents a new control framework for multiple manipulators.Practical implications– This algorithm has significant commercial applications, as a means of controlling multi-arm coordination manipulators that could serve to handle large objects and assemble complicated objects in industrial and hazardous environment.Originality/value– This work presented a new control framework for multiple coordination manipulators, which can ensure consistent kinematics and reduce the influence of error accumulation, and thus can improve the accuracy and reliability of multi-arm coordination system.