Relative dynamics modeling and force-position hybrid control of dual-arm cutting robot
LIU Peng
ZHOU Haochen
MA Hongwei
CAO Xiangang
ZHANG Xuhui
DUAN Xuechao
MAO Qinghua
TIAN Haibo
XUE Xusheng
WANG Chuanwei
Abstract：The dual-arm cutting robot addresses the low efficiency of traditional single-arm roadheaders when cutting large cross-sections.However,its dynamic interaction with coal-rock affects control performance.In current studies,both arms of the dual-arm cutting robot interact with the same object,forming a closed kinematic chain,which fails to meet the control requirements for independent arm movement and the output force of each cutting head.To solve this issue,a force-position hybrid control system based on the robot's relative dynamics model was designed.The kinematic and dynamics models of the dual-arm cutting robot were established,with the relative dynamics model derived using the robot's relative Jacobian matrix and principles of virtual displacement and virtual work.This model used a single variable to describe the motion states of both arms,integrating their independent dynamics models into a unified one.Based on this relative dynamics model,a force-position hybrid control system was developed for the robot's dual arms,with system stability and feasibility verified via the Lyapunov function.Simulation results indicated that the dual-arm cutting process had a larger workspace compared to single-arm cutting,allowing for efficient large cross-section cutting.The force-position hybrid control system enabled synchronized tracking of expected relative position and force,with the absolute error in tracking the target cutter position kept within 0.3132 m and a root mean square error of 0.1447 m.
Keywords：roadway excavationdual-arm cutting robotforce-position hybrid controlrelative dynamicsrelative Jacobian matrix
Publication Date：2024-10-10
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：10( 80-89 )