Prioritized Hierarchical Compliance Control for Dual-Arm Robot Stable Clamping

TL;DR

This paper introduces a hierarchical compliance control method for dual-arm robots that effectively manages disturbances during clamping tasks, ensuring stability and safety in human-robot interactions.

Contribution

It proposes a novel prioritized hierarchical compliance control framework combining HQP and admittance control for dual-arm robots handling disturbances.

Findings

Successfully clamps rigid objects with stability.

Effectively manages disturbances during operation.

Ensures safety and compliance in dual-arm manipulation.

Abstract

When a dual-arm robot clamps a rigid object in an environment for human beings, the environment or the collaborating human will impose incidental disturbance on the operated object or the robot arm, leading to clamping failure, damaging the robot even hurting the human. This research proposes a prioritized hierarchical compliance control to simultaneously deal with the two types of disturbances in the dual-arm robot clamping. First, we use hierarchical quadratic programming (HQP) to solve the robot inverse kinematics under the joint constraints and prioritize the compliance for the disturbance on the object over that on the robot arm. Second, we estimate the disturbance forces throughout the momentum observer with the F/T sensors and adopt admittance control to realize the compliances. Finally, we perform the verify experiments on a 14-DOF position-controlled dual-arm robot WalkerX, clamping a rigid object stably while realizing the compliance against the disturbances.