Adaptive coordinated impedance control for dual-arm robot symmetric bimanual tasks

This paper proposes an adaptive coordinated impedance control scheme to address the challenges of internal force regulation and external force tracking in symmetric bimanual tasks performed by dual-arm robots. The scheme is developed within the hybrid impedance control framework, a specialized variant of the general impedance control approach. First, the contact force is decomposed using the dynamic model of dual-arm manipulation and integrated into the corresponding control loop for real-time impedance parameter adjustment. Then, based on the dynamic model of the closed-chain system, distinct impedance parameter adaptation strategies are designed for internal and external forces to meet their respective force control requirements during manipulation. By enabling real-time impedance parameter adjustments in response to contact force errors, the scheme effectively mitigates trajectory deviations caused by unknown paths and environmental factors, thereby improving dual-arm manipulation performance. Finally, the effectiveness of the adaptive coordinated control scheme is validated through a Matlab-Adams co-simulation on a dual-arm robot, demonstrating its capability in internal force limitation and external force tracking.