Dual-arm generalized compliant motion with shared control

Abstract

A multiple arm generalized compliant motion robot control system governs dual multi-joint robot arms handling an object with both of the arms in accordance with input parameters governing plural respective behaviors to be exhibited by the robot in respective behavior spaces simultaneously. A move-squeeze decomposition processor computes actual move and squeeze decomposition forces based upon current robot force sensor outputs. A compliant motion processor transforms plural object position perturbations of the plural behaviors from the respective behavior spaces to a common space, and computes a relative transformation to a behavior-commanded object position in accordance with the object position perturbations of the plural behaviors. A kinematics processor updates a transformation to a current commanded object position based upon the relative transformation to the behavior-commanded object position. A multiple arm squeeze control processor computes, from appropriate squeeze force input parameters and from actual squeeze forces for each of the arms, a squeeze control position perturbation for each of the arms, to provide squeeze control. An inverse kinematics processor computes, from the commanded object position transformation and from the squeeze control position perturbation, new robot joint angles, and controls respective joints of the robot arms in accordance with the new robot joint angles.