When a dual-arm robot clamps a rigid object in an environment for human beings, the environment or the collaborating human will impose incidental disturbance on the operated object or the robot arm, leading to clamping failure, damaging the robot even hurting the human. This research proposes a prioritized hierarchical compliance control to simultaneously deal with the two types of disturbances in the dual-arm robot clamping. First, we use hierarchical quadratic programming (HQP) to solve the robot inverse kinematics under the joint constraints and prioritize the compliance for the disturbance on the object over that on the robot arm. Second, we estimate the disturbance forces throughout the momentum observer with the F/T sensors and adopt admittance control to realize the compliances. Finally, we perform the verify experiments on a 14-DOF position-controlled dual-arm robot WalkerX, clamping a rigid object stably while realizing the compliance against the disturbances.

翻译：当双臂机器人在人类、环境或协作者的环境中夹紧僵硬物体时,会附带干扰被操作的物体或机器人臂,导致抑制失败,破坏机器人甚至伤害人类。本研究提出优先等级合规控制,以同时处理双臂机器人夹击中的两种类型的扰动。首先,我们使用等级四肢编程(HQP)在联合制约下解决机器人反动运动,并优先处理机器人臂上物体的扰动。第二,我们估计整个动力观察者与F/T传感器的扰动力量,并采用感应控制来实现合规。最后,我们用14-DOF控位置双臂机器人沃克X进行核查实验,在达到对干扰的合规状态时,用刺的固定物体进行检查。