A Compliant Control Method Based on Force Sensors on Robot End-effectors for Live-working

This article proposes a force control method for the live-working robot. Some live-working task requires larger stiffness such as, pushing and butting when replacing cross arm or insulator. Two arms are attached on the live-working robot to meet this requirement and other need for cooperation by two aims. The different kinematic structure of this two aims brings many difficulties to get the dynamic model of the total system. This problem is solved by the proposed control scheme, the main idea of which is two arms could be considered as one arm. The force control method for the exact force control is based on the compliant relationship of the dual arms and the environment. The developed control scheme is experimentally tested on the live-working robot, and the experimental investigation concerns it has short computation time and can successfully tracking force.