The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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Impedance Parameter Update Method for Dual-arm Manipulator based on Operator's Muscle Activation

조작자 근육 활성도 기반 양팔 로봇의 임피던스 제어 파라미터 갱신 방법

  • Baek, Chanryul (Department of Electrical and Electronic Engineering, Hanyang University) ;
  • Cha, Gwangyeol (Department of Electrical and Electronic Engineering, Hanyang University) ;
  • Kim, Junsik (Department of Electrical and Electronic Engineering, Hanyang University) ;
  • Choi, Youngjin (Department of Electrical and Electronic Engineering, Hanyang University)
  • Received : 2022.03.10
  • Accepted : 2022.04.19
  • Published : 2022.08.31
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Abstract

The paper presents how to update impedance control parameters for dual-arm manipulators using EMG signals and motions of the operator. Since the hand motions of the dual-arm are modeled to be the mass-spring-damper system in this paper, the impedance parameter update method is an important issue to reflect the operator's force. However, task space inertia to be used as the mass parameter goes to infinity if the manipulator approaches a kinematic singularity. To alleviate this issue, the impedance (stiffness and damping) parameters are divided with a diagonal element of the task space inertia. Also, the stiffness and damping matrices are updated using the normalized EMG signals captured from the operator's forearm. Through this process, the motion of the dual-arm manipulator is more stabilized even though it approaches the kinematic singularity.

Keywords

Acknowledgement

This work was supported in part by the National Research Foundation of Korea (NRF) grant funded by the Korea government (MSIT) (2019R1A2C1088375), and in part by the Technology Innovation Program funded by the Korean Ministry of Trade, industry and Energy (20001856), Republic of Korea

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