Research on dual-arm robot coordinated transportation method based on admittance control

This paper presents a force coordinated operation control method based on admittance controller to complete the transportation tasks using dual-arm robot. Firstly, the D-H model of the robot is constructed to build the kinematics model about the dual-arm robot. Then, the forward and inverse kinematics of the robot are analyzed according to the above kinematics model. Furthermore, the constraints of the position and orientation for each arm are established. Lastly, based on the admittance control framework, the force controller between the end-effector of each robotic arm and the object is developed. The feasibility and effectiveness of the presented controller are verified by the simulation and experiment.