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This paper proposes a distributed coordinated control strategy for a dual-arm reconfigurable manipulator (DRM) based on joint torque sensors to complete grasping and transportation tasks. Through kinematic and force analysis of the manipulators, the dynamic models of DRM and object are established under the joint torque feedback (JTF) technique and Newton-Euler algorithm, respectively. A fusion error function is designed to reflect the tracking performance of object and the influence of internal forces. The adaptive observer is established to estimate the uncertain dynamic terms of DRM. Consequently, a novel coordinated controller is proposed for DRM. The asymptotic stability of DRM is demonstrated utilizing Lyapunov stability theory. Finally, the effectiveness of the proposed method is verified by experiments.

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Joint Torque Sensor-Based Distributed Coordinated Control of Dual-Arm Reconfigurable Manipulators

  • 会议论文

  • 发表日期：

    2025年

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  • Bing Ma,
  • Hangwei Zhang,
  • Ximing Yao,
  • Yuan Yao,
  • Tianjiao An,
  • Qiang Pan

摘要

This paper proposes a distributed coordinated control strategy for a dual-arm reconfigurable manipulator (DRM) based on joint torque sensors to complete grasping and transportation tasks. Through kinematic and force analysis of the manipulators, the dynamic models of DRM and object are established under the joint torque feedback (JTF) technique and Newton-Euler algorithm, respectively. A fusion error function is designed to reflect the tracking performance of object and the influence of internal forces. The adaptive observer is established to estimate the uncertain dynamic terms of DRM. Consequently, a novel coordinated controller is proposed for DRM. The asymptotic stability of DRM is demonstrated utilizing Lyapunov stability theory. Finally, the effectiveness of the proposed method is verified by experiments.