Abstract
A comprehensive and detailed study on the key problems of industrial dual robot cooperation system was carried out. Firstly, so as to increase the speed of system response, the mathematical model of the cooperation system was established according to the peer-to-peer architecture. On this basis, the control structure diagram of the system in three different situations was designed. Then, the derivation process of impedance control algorithm was analyzed in detail, including the discretization of impedance control and the analysis of system stability conditions. According to the position impedance control method, the realtime force on-line adjustment was added to form the contact surface force control method of adaptive impedance control. Finally, a simulation platform was built to verify the coordinated control of the location and contact force of the two robots. The simulation outcomes indicate that the system can follow the quintic polynomial curve well by using the position impedance control algorithm designed. The response curve of the system output force can track the target value well because of the addition of the error adjustment term of the real-time force in self-adaption impedance control. Thus, the practical validity of the suggested impedance control method of position/contact force coordination control were verified.
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