The use of robots has been rapidly spreading in different daily applications. The transport of liquids by robot arms without causing any slosh is one of such applications which has recently taken the attention of researchers. Liquid transfer by dual-arm robots causes challenging problems because, in the process of dual-arm cooperation, a closed kinematic chain is formed and a set of constraints appears in motion, which increases the complexity of the process. In this study, an expanded impedance control was proposed for a dual-arm cooperative robot to achieve high speed for the transfer of a liquid-filled cylindrical container without sloshing. The impedance control method provides efficient results in controlling multi-robot interactions. However, a conventional impedance control is incapable of suppressing the slosh during liquid transfer. Therefore, in this study, we expand the impedance control by introducing a slosh suppression term, which leads to suppressing the slosh successfully during the transport of a liquid container. The effectiveness of the proposed controller was demonstrated for liquid transfer in a 2-D plane.

机器人的使用已在日常应用中迅速普及。通过机械臂进行的液体运输而不会引起任何晃动是这种应用之一，近来已引起研究人员的注意。双臂机器人进行液体转移会引起挑战性的问题，因为在双臂协作过程中，形成了闭合的运动链，并且在运动中出现了一组约束，这增加了过程的复杂性。在这项研究中，提出了一种扩展阻抗控制的双臂协作机器人，以实现高速传输液体填充的圆柱形容器而不会晃动。阻抗控制方法在控制多机器人交互方面提供了有效的结果。然而，常规的阻抗控制不能抑制液体转移期间的晃动。因此，在本研究中，我们通过引入晃动抑制项来扩展阻抗控制，从而成功地抑制了液体容器在运输过程中的晃动。所提出的控制器的有效性在二维平面中的液体传输中得到了证明。