The Leader-Follower Joint Space Synchronous Impedance Control for Coordinated Operation in Nuclear Industry

Coordinated operation is a common task for the dual-arm robot system in nuclear industry, and the trajectory tracking performance and inner torque are both important indications for the coordinated operation. However, the radiation affects the application of end force/torque sensor and it is practicable to compromising the indications in the joint space. In this paper, leader-follower joint space synchronous impedance control is proposed to compromise the two indications. The dual-arm system is controlled by the leader-follower mode and controller is designed to satisfy the pose and force constraints. Simulation is carried out and the results show considerable performance.