Asymmetric hybrid control of positions and forces of a dual arm robot to share loads

2006 ◽  
pp. 100-115 ◽  
Author(s):  
Masaru Uchiyama ◽  
Toshiaki Yamashita
Keyword(s):  
Hybrid Control ◽  
Asymmetric Hybrid ◽  
Dual Arm Robot ◽  
Dual Arm

A Dual-Arm Robot for Collaborative Vision-Based Object Classification

2020 ◽  
Author(s):  
Ali Zahavi ◽  
Shahriar Najafi Haeri ◽  
Dhanushka Chamara Liyanage ◽  
Mart Tamre
Keyword(s):  
Object Classification ◽  
Dual Arm Robot ◽  
Dual Arm

scholarly journals Comparative study on the redundancy of mobile single- and dual-arm robots

2016 ◽  
Vol 13 (6) ◽  
pp. 172988141666678
Author(s):  
Hongxing Wang ◽  
Ruifeng Li ◽  
Yunfeng Gao ◽  
Chuqing Cao ◽  
Lianzheng Ge
Keyword(s):  
Rate Control ◽  
Control Algorithm ◽  
Redundant Robot ◽  
Motion Models ◽  
Redundant Robots ◽  
Operational Space ◽  
Rate Control Algorithm ◽  
Simulation Results ◽  
Dual Arm Robot ◽  
Dual Arm

A whole resolved motion rate control algorithm designed for mobile dual-arm redundant robots is presented in this article. Based on this algorithm, the end-effector movements of the dual arms of the mobile dual-arm redundant robot can be decomposed into the movements of the two driving wheels of the differential driving platform and the movements of the dual-arm each joint of this robot harmoniously. The influence of the redundancies of the single- and dual-arm robots on the operation based on the fixed- and differential-driving platforms, which are then based on the whole resolved motion rate control algorithm, is studied after building their motion models. Some comparisons are made to show the advantages of this algorithm on the entire modeling of the complicated robotic system and the influences of the redundancy. First, the comparison of the simulation results between the fixed single-arm robot and the mobile single-arm robot is presented. Second, a comparison of the simulation results between the mobile single-arm robot and the mobile dual-arm robots is shown. Compared with the mobile single-arm robot and the fixed dual-arm robot based on this algorithm, the mobile dual-arm robot has more redundancy and can simultaneously track and operate different objects. Moreover, the mobile dual-arm redundant robot has better smoothness, more flexibility, larger operational space, and more harmonious cooperation between the two arms and the differential driving platform during the entire mobile operational process.

A Multi-Priority Control of Asymmetric Coordination for Redundant Dual-Arm Robot

2019 ◽  
Vol 16 (02) ◽  
pp. 1950008
Author(s):  
Fuhai Zhang ◽  
Jiadi Qu ◽  
He Liu ◽  
Yili Fu
Keyword(s):  
Secondary Task ◽  
Control Method ◽  
Null Space ◽  
Main Task ◽  
External Impact ◽  
Dual Arm Robot ◽  
End Effectors ◽  
Dual Arm ◽  
Arm Coordination ◽  
Asymmetric Coordination

The paper develops a multi-priority control method of asymmetric coordination for a redundant dual-arm robot. A novel dual-arm coordination impedance is introduced to the multi-priority control, and then the performance of the object tracking and the redundant joints is improved by the regulation of the relative Cartesian errors between two arms. The control of asymmetric coordination is divided into the main task and the secondary task. The control of the main task can regulate the two end-effectors’ errors and the relative errors by building the model of spatial parallel spring and damping (SPSDM), which establishes the dual-arm coordination impedance relation in Cartesian space. The control of the secondary task optimizes the performance of the redundant joint impedance and joint limit avoidance in null space. Finally, a typical asymmetric coordination experiment of peg-in-hole is carried out to verify the validity and feasibility of the proposed method. The results indicate that the proposed dual-arm coordination impedance can regulate the relative tracking errors between two objects directly, and in the context of the external impact force applied to the two end-effectors, the peg-in-hole dual-arm task can be achieved successfully.

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