Robust Coordinated Compliant Control for Dual-Arm Robots with Position Uncertainty of End-Effector

In this paper, a robust coordinated compliance control is addressed to realize position/force tracking for dual-arm cooperative robots. The control strategy combines sliding mode control with impedance control to complete dual-arm coordinated tasks with external disturbance and position uncertainty of end-effector. The trajectory errors from measure disturbance is considered, and SMC is used to eliminate it. When the system is subjected to external disturbance, the force of end-effector is decomposed into external force and internal force by force decomposition model. Then the impedance control is introduced and the system achieve compliance control by adjusting the reference trajectory to prevent too large internal force between two arms. Finally, a simulation experiment is designed to verify the effectiveness of proposed strategy. The results illustrate the excellent performance and feasibility of our proposed method.