In order to cope with the sudden change of the internal forces between both manipulators and the target due to its unexpected maneuvering,a dual-arm coordinated compliant controller for maneuvering tar-get is proposed.Firstly,the open chain dynamics and the closed chain dynamics of dual-arm space manip-ulators are established,respectively,for dual-arm coordinated compliant operation tasks.Then,by taking into consideration the disturbance caused by the unexpected maneuvering of the target,the autonomous ad-justment strategy for the impedance parameters is designed,which can ensure the smoothness and safety of the dual-arm coordinated operation tasks in the case of significant changes of the internal forces between both the manipulators and the target.Finally,a physical simulation experiment system is deployed for du-al-arm coordinated compliant operation,and an experiment is implemented,which shows the performance of the proposed dual-arm coordinated transfer controller.
维普
万方数据