Object Internal Force Tuning in Cooperative Manipulation Tasks Using Multiple Impedance Control

To manipulate an object with several cooperating manipulators, the Multiple Impedance control (MIC) is a Model-Based algorithm that enforces designated impedance on all cooperating manipulators, and the manipulated object. For tuning the inner object forces, it is needed to model the inner forces/torques and include them in the MIC law. In this paper, a physical virtual linkage model is introduced to determine the inner forces in MIC law. Also, the open loop and closed loop controllers are designed for inner forces tuning. The MIC law is used to manipulate an object on a planned path with desired inner forces. The grasp condition is considered either solidly (with all cooperating end-effectors), or flexible ones. Finally, the effects of gain tuning on inner forces are discussed. The simulation results for object manipulation reveal the merits of the proposed scheme in terms of good tracking errors as well as inner forces tuning, even in the presence of impacts due to contact with the environment, and system flexibility.

Keywords:

Cooperative robots , Inner Forces Tuning , Impedance Control , Cooperation