A Study on Ball Motion Control Method for Glass Press Handling Based on Plate Manipulation of Industrial Dual Arm Robot

2020 ◽  
Vol 2020 (0) ◽  
pp. S16209
Author(s):  
Takahiro MASE ◽  
Ryo KITAHATA ◽  
Toshiki HIROGAKI ◽  
Eiichi Aoyama
Keyword(s):  
Motion Control ◽  
Control Method ◽  
Dual Arm Robot ◽  
Dual Arm ◽  
Ball Motion

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 Impact motion control of a flexible dual-arm space robot for capturing a spinning object

2019 ◽  
Vol 16 (3) ◽  
pp. 172988141985753
Author(s):  
Xiali Li ◽  
Licheng Wu
Keyword(s):  
Motion Control ◽  
Control Method ◽  
Initial Conditions ◽  
Autonomous Vehicle ◽  
Stable State ◽  
Momentum Conservation ◽  
Space Robot ◽  
Dynamics Response ◽  
The Impact ◽  
Dual Arm

As an autonomous vehicle that moves on the space orbit, a space robot needs to be carefully treated on the motion planning and control method. In this article, the optimal impact and postimpact motion control of a flexible dual-arm space robot capturing a spinning object are considered. Firstly, the dynamic model of the robot systems is built by using Lagrangian formulation. The flexible links are modeled as Euler–Bernoulli beams of two bending modes. Through simulating the system’s postimpact dynamics response, the initial conditions are obtained from the impact model. Next, the initial velocities of base and joint are adjusted to minimize the velocity of the base after the capture according to generalized momentum conservation. After the capture, a proportional–derivative controller is designed to keep the robot system’s stabilization. The simulation results show that joint angles of base and manipulators reach stable state quickly, and motions of the space robots also induce vibrating motions of the flexible manipulators.

0401 Motion Control of Working Plate Supported with Dual-Arm Robot with Various Postures

2015 ◽  
Vol 2015.8 (0) ◽  
pp. _0401-1_-_0401-6_
Author(s):  
Yuichi HORIZUMI ◽  
Wei WU ◽  
Toshiki HIROGAKI ◽  
Eiichi AOYAMA
Keyword(s):  
Motion Control ◽  
Dual Arm Robot ◽  
Dual Arm

scholarly journals A robotic shared control teleoperation method based on learning from demonstrations

2019 ◽  
Vol 16 (4) ◽  
pp. 172988141985742 ◽  
Author(s):  
Bao Xi ◽  
Shuo Wang ◽  
Xuemei Ye ◽  
Yinghao Cai ◽  
Tao Lu ◽  
...  
Keyword(s):  
Control Method ◽  
Dynamic Environments ◽  
Shared Control ◽  
Remote Site ◽  
Learning From Demonstrations ◽  
Robotic Motion ◽  
Current Input ◽  
Dual Arm Robot ◽  
Vision Feedback ◽  
Dual Arm

In teleoperation, the operator is often required to command the motion of the remote robot and monitor its behavior. However, such an interaction demands a heavy workload from a human operator when facing with complex tasks and dynamic environments. In this article, we propose a shared control method to assist the operator in the manipulation tasks to reduce the workload and improve the efficiency. We adopt a task-parameterized hidden semi-Markov model to learn a manipulation skill from several human demonstrations. We utilize the learned model to predict the manipulation target given the current observed robotic motion trajectory and subsequently estimate the desired robotic motion given the current input of the operator. The estimated robotic motion is then utilized to correct the input of the operator to provide manipulation assistance. In addition, a set of virtual reality devices are used to capture the operator’s motion and display the vision feedback from the remote site. We evaluate our approach through two manipulation tasks with a dual-arm robot. The experimental results show the effectiveness of the proposed method.

A unified dynamic control method for a redundant dual arm robot

2015 ◽  
Vol 12 (3) ◽  
pp. 361-371 ◽  
Author(s):  
Meiling Wang ◽  
Minzhou Luo ◽  
Tao Li ◽  
Marco Ceccarelli
Keyword(s):  
Control Method ◽  
Dynamic Control ◽  
Dual Arm Robot ◽  
Dual Arm

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 Design and Implementation of Admittance Control for a Dual-Arm Robot under Space Limitation

2019 ◽  
Vol 256 ◽  
pp. 02010
Author(s):  
Jinxing Yang ◽  
Yinhui Xie ◽  
Mingqi Feng ◽  
Jun Li
Keyword(s):  
High Speed ◽  
Control Algorithm ◽  
Control Method ◽  
Industrial Robots ◽  
Admittance Control ◽  
Human Machine Interaction ◽  
Space Limitation ◽  
Dual Arm Robot ◽  
Point To Point ◽  
Dual Arm

Aimed at the situation lack of suitable industrial robots with speed requirement and space limitation, a novel simple structured and high speed dual-arm robot is designed. The robot control system has been achieved by using high speed controller, real-time bus EtherCAT and integrating the sensor system via Ethernet interface. Kinematic and dynamic analysis are the basis of its kinematic control and trajectory planning. This paper presents a force-free control method for direct teaching of the robot and adopts a Cartesian admittance control algorithm to realize human-machine interaction. The admittance control is conducted by utilizing six-dimensional force/torque sensor fixed to the end-effector of manipulator. To evaluate the performance of the proposed controller and control algorithm, a point-to-point teaching task is conducted.

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