A dual-arm manipulation strategy using position/force errors and Kalman filter

2021 ◽  
pp. 014233122110186
Author(s):  
Wu-Te Yang ◽  
Bo-Hsun Chen ◽  
Pei-Chun Lin
Keyword(s):  
Kalman Filter ◽  
Force Control ◽  
Spatial Relation ◽  
Digital Controller ◽  
Custom Made ◽  
Series Of Experiments ◽  
Dual Arm Robot ◽  
Sense Of Touch ◽  
Dual Arm ◽  
Manipulation Strategy

This paper presents a new coordination manipulation strategy for a custom-made dual-arm robot. With master and slave coordination infrastructure, both spatial relation and sense of touch are considered to hold an object stably. Given the known trajectory of the master arm, the slave arm fuses position and force commands by using the Kalman filter to yield optimal compensation amounts. The proposed strategy has been experimentally evaluated, and the results confirm that it was capable of dealing with fragile and flexible objects. In addition, the influence of the loop time of the digital controller on force control for this task was also investigated in mathematical and simulated ways. Furthermore, a series of experiments were designed to explore the effects that have influences on errors in force control. The main factors that affect force control error were analyzed.

Dual arm robot astronaut design and coordinated force control

2017 ◽  
Author(s):  
Bingshan Hu ◽  
Hongliu Yu ◽  
Meng Chen ◽  
Liangliang Han
Keyword(s):  
Force Control ◽  
Dual Arm Robot ◽  
Dual Arm

1A2-D09 Master-Slave Control of Dual-Arm Robot with Force Control

2009 ◽  
Vol 2009 (0) ◽  
pp. _1A2-D09_1-_1A2-D09_4
Author(s):  
Daisuke NAKAGAWA ◽  
Shingo AMANO ◽  
Shoukei MOU ◽  
Kotaro SAIKI ◽  
A.S.Ruhizan Liza ◽  
...  
Keyword(s):  
Force Control ◽  
Dual Arm Robot ◽  
Dual Arm

Constraint-Based and Sensorless Force Control With an Application to a Lightweight Dual-Arm Robot

2016 ◽  
Vol 1 (1) ◽  
pp. 340-347 ◽  
Author(s):  
Davide Nicolis ◽  
Andrea Maria Zanchettin ◽  
Paolo Rocco
Keyword(s):  
Force Control ◽  
Dual Arm Robot ◽  
Dual Arm

1A2-Q08 A Study of Force Control by Using Dual Arm Robot(Robots for Works (1))

2013 ◽  
Vol 2013 (0) ◽  
pp. _1A2-Q08_1-_1A2-Q08_3
Author(s):  
GUANGWEI WANG ◽  
Kouta NAKAMIZO ◽  
Kentaro KASUYA ◽  
ZUNZUN Hu ◽  
Kenzo NONAMI
Keyword(s):  
Force Control ◽  
Dual Arm Robot ◽  
Dual Arm

scholarly journals Combining haptics and inertial motion capture to enhance remote control of a dual-arm robot

2022 ◽  
Author(s):  
Vicent Girbés-Juan ◽  
Vinicius Schettino ◽  
Luis Gracia ◽  
J. Ernesto Solanes ◽  
Yiannis Demiris ◽  
...  
Keyword(s):  
Motion Capture ◽  
Haptic Feedback ◽  
Inertial Motion ◽  
Safety Issues ◽  
Robot Accuracy ◽  
Human Adaptability ◽  
Overall Performance ◽  
Dual Arm Robot ◽  
Sense Of Touch ◽  
Dual Arm

AbstractHigh dexterity is required in tasks in which there is contact between objects, such as surface conditioning (wiping, polishing, scuffing, sanding, etc.), specially when the location of the objects involved is unknown or highly inaccurate because they are moving, like a car body in automotive industry lines. These applications require the human adaptability and the robot accuracy. However, sharing the same workspace is not possible in most cases due to safety issues. Hence, a multi-modal teleoperation system combining haptics and an inertial motion capture system is introduced in this work. The human operator gets the sense of touch thanks to haptic feedback, whereas using the motion capture device allows more naturalistic movements. Visual feedback assistance is also introduced to enhance immersion. A Baxter dual-arm robot is used to offer more flexibility and manoeuvrability, allowing to perform two independent operations simultaneously. Several tests have been carried out to assess the proposed system. As it is shown by the experimental results, the task duration is reduced and the overall performance improves thanks to the proposed teleoperation method.

Study on Dynamic Hybrid Position/Force Control of Two Coordinated Manipulators

2012 ◽  
Vol 468-471 ◽  
pp. 1224-1230 ◽  
Author(s):  
Guo Dong Chen
Keyword(s):  
Force Control ◽  
Control Method ◽  
Object Motion ◽  
Rigid Object ◽  
Control Scheme ◽  
Coordination System ◽  
Dynamic Hybrid ◽  
Dual Arm Robot ◽  
Definition Of ◽  
Dual Arm

A dynamic hybrid position/force control method is developed for the coordination of two manipulators of a dual-arm robot to cope with the case of dual-arm tightly cooperate a common rigid object in the presence of environmental constraint. Begin with the definition of a group of generalized motion and force vectors used for task description, and by synthesizing the object dynamics and manipulator dynamics, an object-oriented dynamic equation of the dual-arm rigid coordination system is first derived, where relationships between object motion, internal stress force, and environmental contact force are explicitly presented. Furthermore, this equation and that of single arm dynamics in Cartesian still remain the same form. Based on this definition and description, the dynamic hybrid position/force control scheme for dual-arm symmetric coordination is then designed, and the decomposition and parallel realization of the control algorithm is also discussed. Several experiments have been done on two coordinated PUMA562 robot manipulators, which show that the proposed method works effectively, where the object motion and internal/external force can be simultaneously controlled during cooperation.

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.

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