Stable Capturing Strategy in the Dual-arm Time-Delay Capturing System with Hardware Closed Chain

2021 ◽  
Author(s):  
Xiaoyu Zhao ◽  
Yang Liu ◽  
Zongwu Xie
Keyword(s):  
Time Delay ◽  
Closed Chain ◽  
Dual Arm

Geometric parameter identification of a dual-arm robot by using closed-chain constraint and optimization technique

2017 ◽  
Vol 232 (7) ◽  
pp. 1294-1302 ◽  
Author(s):  
Wu-Te Yang ◽  
Kuan-Lin Li ◽  
Kuei-Yuan Chan ◽  
Pei-Chun Lin
Keyword(s):  
Optimization Technique ◽  
Constraint Equation ◽  
Calibration Method ◽  
Kinematic Parameter ◽  
Motion Generation ◽  
Positioning Accuracy ◽  
Closed Chain ◽  
Controller Performance ◽  
Dual Arm Robot ◽  
Dual Arm

The positioning accuracy of the empirical robot manipulators is determined by various factors, such as kinematic accuracy, structure rigidity, and controller performance. Here, we report on the development of a new and straightforward technique to calibrate the kinematic parameters of a dual-arm robot under uncertainty. In comparison with other techniques, which generally rely on using other instruments to calibrate the manipulators, the proposed method utilizes the intrinsic characteristics of the dual-arm robot for calibration. In particular, when the two arms grasp each other, a formed closed chain can be operated as the constraint equation for the kinematic parameter optimization of the two arms. In the optimization process, the dual-arm robot has to pose in various configurations to yield better performance, and thus a motion generation strategy of the dual-arm robot is proposed, where one arm serves as the master to track the designated trajectory and the other arm serves as the slave to track the motion of the master arm by using a compliance control strategy. The proposed calibration method was experimentally validated, and the results confirm that the positioning accuracy of both arms can be improved.

scholarly journals Adaptive hybrid position/force control of dual-arm cooperative manipulators with uncertain dynamics and closed-chain kinematics

2017 ◽  
Vol 354 (17) ◽  
pp. 7767-7793 ◽  
Author(s):  
Yi Ren ◽  
Zhengsheng Chen ◽  
Yechao Liu ◽  
Yikun Gu ◽  
Minghe Jin ◽  
...  
Keyword(s):  
Force Control ◽  
Uncertain Dynamics ◽  
Closed Chain ◽  
Dual Arm ◽  
Cooperative Manipulators

scholarly journals Kinematic and dynamic analysis of lower-mobility cooperative arms

Robotica ◽  
2014 ◽  
Vol 33 (9) ◽  
pp. 1813-1834 ◽  
Author(s):  
Philip Long ◽  
Wisama Khalil ◽  
Stéphane Caro
Keyword(s):  
Degrees Of Freedom ◽  
Dynamic Performance ◽  
Closed Loop System ◽  
Modeling And Analysis ◽  
Common Task ◽  
Closed Chain ◽  
Working Together ◽  
Lower Mobility ◽  
Actuation Scheme ◽  
Dual Arm

SUMMARYThis paper studies the modeling and analysis of a system with two cooperative manipulators working together on a common task. The task is defined as the transportation of an object in space. The cooperative system is the dual-arm of the humanoid robot Nao, where the serial architecture of each arm has 5 degrees of freedom. The kinematics representing the closed chain system is studied. The mobility of the closed-loop system is analyzed and the nature of the possible motions explored. The stiffness of some motors can be reduced until they behave as passive joints. Certain joints are then chosen as actuated (independent) and the others as passive (dependent). The serial and parallel singular configurations of the system are considered. From the kinematic analysis, admissible and inadmissible minimum actuation schemes are analyzed. Furthermore the dynamic performance of the schemes is compared to find the optimum minimum actuation scheme.

scholarly journals Coordinated Resolved Motion Control of Dual-Arm Manipulators with Closed Chain

10.5772/63430 ◽  
2016 ◽  
Vol 13 (3) ◽  
pp. 80 ◽  
Author(s):  
Tianliang Liu ◽  
Yan Lei ◽  
Liang Han ◽  
Wenfu Xu ◽  
Huaiwu Zou
Keyword(s):  
Motion Control ◽  
Closed Chain ◽  
Dual Arm

scholarly journals Coordinated compliance control of dual-arm robot astronaut for payload operation

2021 ◽  
Vol 18 (3) ◽  
pp. 172988142110128
Author(s):  
Bingshan Hu ◽  
Lei Yan ◽  
Liangliang Han ◽  
Hongliu Yu
Keyword(s):  
Force Control ◽  
Position Control ◽  
Control Method ◽  
Constraint Equation ◽  
Control Mode ◽  
Control Methods ◽  
Compliance Control ◽  
Closed Chain ◽  
Dual Arm Robot ◽  
Dual Arm

Dual-arm robot astronaut has more general and dexterous operation ability than single-arm robot, and it can interact with astronaut more friendly. The robot will inevitably use both arms to grasp payloads and transfer them. The force control of the arms in closed chains is an important problem. In this article, the coordinated kinematic and dynamic equations of the dual-arm astronaut are established by considering the closed-chain constraint relationship. Two compliance control methods for dual-arm astronaut coordinated payload manipulating are proposed. The first method is called master–slave force control and the second is the shared force control. For the former, the desired path and operational force of the master arm should be given in advance and that of slave arm are calculated from the dual-arm robot closed-chain constraint equation. In the share control mode, the desired path and end operational force of dual arms are decomposed from the dual-arm robot closed-chain constraint equation directly and equally. Finally, the two control algorithms are verified by simulation. The results of analysis of variance of the simulation data show that the two control methods have no obvious difference in the accuracy of force control but the second control method has a higher position control accuracy, and this proves that the master–slave mode is better for tasks with explicit force distribution requirements and the shared force control is especially suitable for a high-precision requirement.

Coordinated robust control based on extended state observer of dual-arm space robot with closed chain for transferring a target

2017 ◽  
Vol 232 (13) ◽  
pp. 2489-2498
Author(s):  
Jing Cheng ◽  
Li Chen
Keyword(s):  
Robust Control ◽  
State Observer ◽  
Extended State Observer ◽  
Space Robot ◽  
Dynamic Equations ◽  
Extended State ◽  
Constraint Equations ◽  
Closed Chain ◽  
Pseudo Inverse ◽  
Dual Arm

The coordinated control problem of free-floating dual-arm space robot with closed chain is discussed. First, dynamic equations of the open-chain space robot system with virtual cut-off point are obtained by Lagrangian equation; the constraint equations of closed loop are derived by the kinematics analysis. The dynamic equations without redundant degree of freedom of dual-arm space robot with closed chain are established by the constraint equations and the theory of pseudo-inverse. Second, in order to achieve excellent tracking performance, the robust control based on extended state observer is proposed for the closed-chain system with uncertain inertial parameters. The unknown part of the closed-chain system is compensated by an extended state observer. The global uniform ultimate boundedness stability with exponential convergence is proven by the Lyapunov’s theory. For the existence of the controller redundancy, based on the weighted minimum-norm theory and pseudo-inverse theory, the joint inputs are distributed for each joint to guarantee the uniqueness of joints trajectory. At last, the numerical simulation is conducted to verify the effectiveness of the proposed control scheme.

scholarly journals Mixed Kane–Newton Multi-Body Analysis of a Dual-Arm Robotic System for On-Orbit Servicing Missions

2021 ◽  
Author(s):  
Alex De Bonis ◽  
Federica Angeletti ◽  
Paolo Iannelli ◽  
Paolo Gasbarri
Keyword(s):  
Robotic System ◽  
Robotic Systems ◽  
Open Chain ◽  
Robotic Arms ◽  
Body Model ◽  
Closed Chain ◽  
Relevant Topic ◽  
Multi Body ◽  
Dual Arm ◽  
Chain Configuration

AbstractA currently relevant topic is the development of on-orbit servicing missions designed to repair, refuel or deorbit non-co-operative spacecraft. For this purpose, it is possible to use space robotic systems composed of a main platform and one or more robotic arms. In this paper, the capacity of a dual-arm robotic system to manipulate and to deorbit a generic target will be analyzed. For this purpose, a mixed Kane–Newton multi-body model will be implemented; this model will allow to switch automatically from an open-chain configuration (target captured via a single robotic arm) to a closed-chain configuration (target captured via both robotic arms) and vice versa. The flexibility of the joints of the system and the flexibility of the components of the robotic arms will be considered in the model. The system will be properly sized to operate the deorbiting of the target. Under the hypothesis of planar motion, numerical results will be presented to validate the model and to demonstrate the correct sizing of the system.

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