Impedance control for force tracking of a dual-arm cooperative robot based on particle swarm optimization
Abstract
Purpose
The purpose of this paper aims to investigate the adaptive impedance control and its optimized PSO algorithm for force tracking of a dual-arm cooperative robot. Because the dual-arm robot is directly in contact with external environment, controlling the mutual force between robot and external environment is of great importance. Besides, a high compliance of the robot should be guaranteed.
Design/methodology/approach
An impedance control based on Particle Swarm Optimization (PSO) algorithm is designed to track the mutual force and achieve compliance control of the robot end.
Findings
The experimental results show that the impedance control coefficients can be automatically tuned converged by PSO algorithm.
Originality/value
The system can reach a steady state within 0.03 s with overshoot convergence, and the force fluctuation range at the steady state decreases to about ±0.08 N even under the force mutation condition.
Keywords
Acknowledgements
This work was supported in part by National Natural Science Foundation of China (52277060), and in part by Shenzhen Science and Technology Program (JCYJ20220818100000001, SGDX20230116110009018).
Citation
Li, L., Huang, T., Pan, C., Pan, J.F. and Su, W. (2024), "Impedance control for force tracking of a dual-arm cooperative robot based on particle swarm optimization", Industrial Robot, Vol. ahead-of-print No. ahead-of-print. https://doi.org/10.1108/IR-10-2023-0247
Publisher
:Emerald Publishing Limited
Copyright © 2024, Emerald Publishing Limited