Relative Dynamic Modeling of Dual-Arm Coordination Robot

2018 ◽  
Author(s):  
Jianhua Zhang ◽  
Xiaolin Xu ◽  
Xuan Liu ◽  
Minglu Zhang
Keyword(s):  
Dynamic Modeling ◽  
Dual Arm ◽  
Arm Coordination

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.

scholarly journals A Recursive Dynamic Modeling and Control for Dual-arm Manipulator With Elastic Joints

IEEE Access ◽  
2020 ◽  
Vol 8 ◽  
pp. 155093-155102
Author(s):  
Xin Jing ◽  
Haibo Gao ◽  
Zhengsheng Chen ◽  
Yaobing Wang
Keyword(s):  
Dynamic Modeling ◽  
Modeling And Control ◽  
Elastic Joints ◽  
And Control ◽  
Dual Arm

scholarly journals Fast Object Learning and Dual-arm Coordination for Cluttered Stowing, Picking, and Packing

2018 ◽  
Author(s):  
Max Schwarz ◽  
Christian Lenz ◽  
German Martin Garcia ◽  
Seongyong Koo ◽  
Arul Selvam Periyasamy ◽  
...  
Keyword(s):  
Object Learning ◽  
Dual Arm ◽  
Arm Coordination

Modeling Dual-Arm Coordination for Posture: An Optimization-Based Approach

2005 ◽  
Author(s):  
Kimberly Farrell ◽  
Timothy Marler ◽  
Karim Abdel-Malek
Keyword(s):  
Dual Arm ◽  
Arm Coordination

Dual Arm Coordination with Coordination Diagram based on Teleoperation Demonstration

2021 ◽  
Author(s):  
Guoyu Zuo ◽  
Zichen Xu ◽  
Lu Liu ◽  
Daoxiong Gong ◽  
Jianfeng Li
Keyword(s):  
Dual Arm ◽  
Arm Coordination
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