Admittance force control for cooperative dual-arm robot coordination in switchgear manufacturing: simulation-driven development and real-world implementation

This thesis introduces a closed-loop admittance force control system tailored for precise cable routing tasks executed by two robotic arms within switchgear applications. Our comprehensive approach spans algorithm development and validation in both simulated and real-world environments. In the realm of simulation, we addressed intricate challenges related to cable modeling and force interactions between components. Additionally, we tackled the complexities of managing a force/torque sensor, ensuring its accurate simulation. The admittance control algorithm is implemented within the slave robot, enabling dynamic tracking of the master robot's trajectory while adeptly responding to unforeseen external forces and torques. This algorithm seamlessly transitions from simulation to real-world scenarios, showcasing its effectiveness on UR10e robots equipped with custom grippers. Rigorous testing across a spectrum of cable routing scenarios serves as compelling validation of its robust functionality and performance. Our integrated approach holds significant promise for advancing cable routing systems, merging cutting-edge simulation techniques with real-world applicability to address complex challenges inherent to switchgear applications.