Skillful Operating of Working Plate to Control Ball Rolling Motion With a Dual Arm Robot

2013 ◽  
Author(s):  
Shun Kinoshita ◽  
Toshiki Hirogaki ◽  
Eiichi Aoyama ◽  
Wei Wu
Keyword(s):  
Cooperative Control ◽  
Present Report ◽  
Past Research ◽  
Circular Path ◽  
Rotary Axes ◽  
Ball Rolling ◽  
Novel Method ◽  
Rotational Motions ◽  
Dual Arm Robot ◽  
Dual Arm

Industrial dual-arm robots have been gaining attention as novel tools in the field of new automation. Our past research has focused on using them flexibly to control both the linear and rotational motions of a working plate. However, it has been difficult to measure the synchronous accuracy of two rotary axes without a high-accuracy gyro sensor. We therefore developed a novel method to measure the synchronous accuracy of the two rotary axes of a working plate with a ball, in which the ball is kept rolling around a circular path by dual-arm cooperative control. In the present report, in order to widen the range of application, we tried to keep the ball rolling around a rhomboid path, which is one of the polygonal paths used on a working plate by dual-arm cooperative control. It could be seen that there is some possibility of generating an equal speed diamond motion by inputting wave as the odd power of a trigonometric function and considered a deceleration angle with the robot that we handled.

Detection of Motion Error Under Synchronous Two-Axis Control of a Dual Arm Robot Based on Monitoring of Ball Rolling Motion on a Plate

2015 ◽  
Vol 9 (1) ◽  
pp. 33-42
Author(s):  
Wei Wu ◽  
◽  
Shun Kinoshita ◽  
Toshiki Hirogaki ◽  
Eiichi Aoyama
Keyword(s):  
Cooperative Control ◽  
Rolling Friction ◽  
Industrial Robots ◽  
Circular Path ◽  
Motion Error ◽  
Rotary Axes ◽  
Ball Rolling ◽  
Novel Method ◽  
Dual Arm Robot ◽  
Dual Arm

Dual-arm industrial robots have been gaining attention as novel tools in the field of new automation. We therefore focus on them to flexibly control both the linear motion and the rotational motion of a working plate. However, the difficulty of measuring the synchronous accuracy of two rotary axes without a highaccuracy gyro sensor has been a problem. We therefore propose a novel method of using a ball to measure the synchronous accuracy of two rotary axes of a working plate. The plate uses dual-arm cooperative control to keep the ball rolling in a circular path on it. In this report, we investigate the effects of the rolling friction coefficient of the ball on its sensitivity and resolution to estimate the synchronous accuracy of two rotary axes.

Proposal of Improving Method of Rotational 2-Axis Synchronous Accuracy of Plate Motion Control with a Dual Arm Robot by Estimating Ball Rolling Motion on the Plate

2012 ◽  
Vol 523-524 ◽  
pp. 889-894 ◽  
Author(s):  
Wei Wu ◽  
Toshiki Hirogaki ◽  
Eiichi Aoyama
Keyword(s):  
Machine Tool ◽  
Present Report ◽  
Plate Motion ◽  
Circular Path ◽  
Motion Error ◽  
Rotation Axes ◽  
Ball Rolling ◽  
Dual Arm Robot ◽  
Five Axis ◽  
Dual Arm

Recently, developers of machining tools have begun paying more and more attention to multi-joint dual-arm robot, and it is expected the robot will reclaim its place in the field of new automation. Industrial dual-arm robots have therefore gained attention as new tools to control both linear motion and rotational motion accurately. On the other hand, the five-axis control machining center controlling the motion of three translation axes and two rotation axes has put into wide practical use. However, a one problem has been that it may be the difficult to measure the synchronic accuracy of rotation two axes without high accuracy gyro sensor. In the present report, we proposed a novel method to measure the synchronic accuracy of rotation two axes of machine tool table with a ball, which keeps a ball rolling around a circular path on the working plate by dual-arm cooperating control. As a result, we investigated an influence of each axis motion error on a ball- rolling path, and demonstrated this method made it feasible to estimate the synchronic accuracy of rotation two axes of machine tool table.

Motion Control of Rolling Ball by Operating the Working Plate with a Dual-Arm Robot

2012 ◽  
Vol 6 (1) ◽  
pp. 75-83 ◽  
Author(s):  
Wei Wu ◽  
◽  
Toshiki Hirogaki ◽  
Eiichi Aoyama ◽  
Keyword(s):  
Rotational Motion ◽  
Manufacturing Systems ◽  
Present Report ◽  
Circular Path ◽  
Stable Operation ◽  
Linear Motion ◽  
Motion Error ◽  
Rolling Ball ◽  
Ball Rolling ◽  
Dual Arm

Recently, new needs have emerged to control not only linear motion but also rotational motion in high-accuracy manufacturing fields. Many five axiscontrolled machining centers are therefore in use. However, one problem has been that it may be difficult to achieve flexible manufacturing systems by methods based on the use of these machine tools. On the other hand, industrial dual-arm robots have gained attention as new tools to control both linear motion and rotational motion accurately, in the attempt to control a working plate like a machine tool table. In the present report, cooperative dual-arm motion is demonstrated to make it feasible to perform stable operation control, such as controlling the working plate to keep a ball rolling in a circular path on it. As a result, we investigated the influence of each axis motion error on a ball-rolling path.

Investigation of Synchronous Accuracy of Dual Arm Motion of Industrial Robot

2012 ◽  
Vol 516 ◽  
pp. 234-239 ◽  
Author(s):  
Wei Wu ◽  
Toshiki Hirogaki ◽  
Eiichi Aoyama
Keyword(s):  
Rotational Motion ◽  
Manufacturing Systems ◽  
Industrial Robot ◽  
Circular Path ◽  
Stable Operation ◽  
Motion Error ◽  
Ball Rolling ◽  
Arm Motion ◽  
Five Axis ◽  
Dual Arm

Recently, new needs have emerged to control not only linear motion but also rotational motion in high-accuracy manufacturing fields. Many five-axis-controlled machining centres are therefore in use. However, one problem has been the difficulty of creating flexible manufacturing systems with methods based on the use of these machine tools. On the other hand, the industrial dual-arm robot has gained attention as a new way to achieve accurate linear and rotational motion in an attempt to control a working plate like a machine tool table. In the present report, a cooperating dual-arm motion is demonstrated to make it feasible to perform stable operation control, such as controlling the working plate to keep a ball rolling around a circular path on it. As a result, we investigated the influence of each axis motion error on a ball-rolling path.

Cooperative control of dual-arm robots in different human-robot collaborative tasks

2019 ◽  
Vol 40 (1) ◽  
pp. 95-104 ◽  
Author(s):  
Xinbo Yu ◽  
Shuang Zhang ◽  
Liang Sun ◽  
Yu Wang ◽  
Chengqian Xue ◽  
...  
Keyword(s):  
Cooperative Control ◽  
Force Feedback ◽  
Control Strategies ◽  
Experimental Results ◽  
Distant Object ◽  
Content Type ◽  
Human Arm ◽  
Dual Arm Robot ◽  
Dual Arm ◽  
Robot Platform

Purpose This paper aims to propose cooperative control strategies for dual-arm robots in different human–robot collaborative tasks in assembly processes. The authors set three different regions where robot performs different collaborative ways: “teleoperate” region, “co-carry” region and “assembly” region. Human holds the “master” arm of dual-arm robot to operate the other “follower” arm by our proposed controller in “teleoperation” region. Limited by the human arm length, “follower” arm is teleoperated by human to carry the distant object. In the “co-carry” region, “master” arm and “follower” arm cooperatively carry the object to the region close to the human. In “assembly” region, “follower” arm is used for fixing the object and “master” arm coupled with human is used for assembly. Design/methodology/approach A human moving target estimated method is proposed for decreasing efforts for human to move “master” arm, radial basis functions neural networks are used to compensate for uncertainties in dynamics of both arms. Force feedback is designed in “master” arm controller for human to perceive the movement of “follower” arm. Experimental results on Baxter robot platform show the effectiveness of this proposed method. Findings Experimental results on Baxter robot platform show the effectiveness of our proposed methods. Different human-robot collaborative tasks in assembly processes are performed successfully under our cooperative control strategies for dual-arm robots. Originality/value In this paper, cooperative control strategies for dual-arm robots have been proposed in different human–robot collaborative tasks in assembly processes. Three different regions where robot performs different collaborative ways are set: “teleoperation” region, “co-carry” region and “assembly” region.

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