Hydraulic Dual-arm Manipulator Coordinated Motion Control for Human-robot Collaborative Heavy Load Handling

doi:10.3901/JME.2025.15.162

Abstract

Abstract: To address the challenges of inaccurate internal force regulation and uncoordinated human-robot interaction caused by closed-chain coupling and nonlinear hydraulic system characteristics in multi-degree-of-freedom hydraulic dual-arm during human-robot collaborative heavy-load transportation tasks, a hydraulic dual-arm human-robot coordinated control method is proposed for collaborative heavy-load handling. First, based on the analysis of the motion states of the closed-chain system and internal force of the object mapping relationship under human-robot collaboration, the coupled rigid-body dynamics and hydraulic system dynamics in hydraulic manipulators are further decoupled through modular dynamic model, achieving refined modeling of the strongly coupled dual-arm closed-chain system. Subsequently, a human-robot coordinated control strategy is developed by integrating the dynamic compliance of admittance control with an internal force optimization method that minimizes dual-arm contact forces to prevent object damage caused by excessive contact forces while preserving operational intent. Finally, a motion controller is designed base on modular dynamic model as the foundation for the hydraulic dual-arm human-robot coordinated controller. Experimental results show that the dual-arm under human-robot coordinated control not only adaptively adjust object trajectories according to operator intent but also achieve active regulation of internal forces across different directions. Specifically, reductions in internal force errors reach 44.28%-82.46% along the x-axis direction and 44.81%-53.69% along the z-axis direction.

Key words: hydraulic dual-arm manipulator, human-robot collaboration, coordinated motion control, internal force control

CLC Number:

TG156

SHEN Changjie, CHENG Min, SUN Bolin, XU Bing. Hydraulic Dual-arm Manipulator Coordinated Motion Control for Human-robot Collaborative Heavy Load Handling[J]. Journal of Mechanical Engineering, 2025, 61(15): 162-173.

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