Experiments of position control for 3-link dual-arm underwater robot

2021 ◽  
Vol 2021 (0) ◽  
pp. 1A1-B06
Author(s):  
Yuu MATSUO ◽  
Yuki TAKAZAKI ◽  
Yuta HANAZAWA ◽  
Shinichi SAGARA ◽  
Fumiaki TAKEMURA
Keyword(s):  
Position Control ◽  
Underwater Robot ◽  
Dual Arm

Impedance Control of Dual-Arm Systems Based on the Object with Senseless Force

2013 ◽  
Vol 765-767 ◽  
pp. 1920-1923
Author(s):  
Li Jiang ◽  
Yang Zhou ◽  
Bin Wang ◽  
Chao Yu
Keyword(s):  
Numerical Simulations ◽  
Relative Position ◽  
Position Control ◽  
Impedance Control ◽  
Force Sensors ◽  
Operational Space ◽  
Novel Approach ◽  
Control Scheme ◽  
Statics And Dynamics ◽  
Dual Arm

A novel approach to impedance control based on the object is proposed to control dual-arm systems with senseless force. Considering the motion of the object, the statics and dynamics of the dual-arm systems are modeled. Extending the dynamics of dual-arm system and the impedance of object to the operational space, impedance control with senseless force is presented. Simulations on a dual-arm system are carried out to demonstrate the performance of the proposed control scheme. Comparing with position control, results of numerical simulations show that the proposed scheme realizes suitable compliant behaviors in terms of the object, and minimizes the error of the relative position between the manipulators even without force sensors.

scholarly journals Adaptive force/ position control for dual-arm system based on neural network radial basis function without using a force sensor

2020 ◽  
pp. 1-7
Author(s):  
Luu Thi Hue, Duong Minh Duc, Pham Thuc Anh Nguyen Pham
Keyword(s):  
Neural Network ◽  
Adaptive Learning ◽  
Position Control ◽  
Learning Algorithm ◽  
Contact Point ◽  
Force Sensor ◽  
Object A ◽  
Contact Points ◽  
Radial Basis ◽  
Dual Arm

The paper has developed an adaptive algorithm using neural network for controlling dual-arm robotic system in stable holding a rectangle object and moving it to track the desired trajectories. Firstly, an overall dynamic of the system including the dual-arm robot and the object is derived based on Euler-Lagrangian principle. Then based on the dynamics, a controller has proposed to achieve the desired trajectories of the holding object. A radial basis neural network has been applied to compensate uncertainties of system parameters. The adaptive learning algorithm has been derived owning to Lyapunov stability principle to guarantee asymptotical convergence of the closed loop system. Besides, force control at contact point is implemented without the measurements of forces and moments at contact points. Finally, simulation work on Matlab has been carried out to confirm the accuracy and the effectiveness of the proposed controller.

Elbow position control of the redundant industrial dual-arm robot

2017 ◽  
Author(s):  
Taeyong Choi ◽  
Hyunmin Do ◽  
Dongil Park ◽  
Chanhun Park ◽  
Jinho Kyung ◽  
...  
Keyword(s):  
Position Control ◽  
Dual Arm Robot ◽  
Dual Arm

2A1-C09 Development of a semi-autonomous underwater robot equipped with 3-link dual-arm

2015 ◽  
Vol 2015 (0) ◽  
pp. _2A1-C09_1-_2A1-C09_4
Author(s):  
Radzi BIN AMBAR ◽  
Shinichi SAGARA ◽  
Fumiaki TAKEMURA
Keyword(s):  
Underwater Robot ◽  
Dual Arm

Development of a Master Slave Simulator for 3-Link Dual-Arm Underwater Robot

2016 ◽  
Vol 2016 (0) ◽  
pp. 1A1-17a2
Author(s):  
Masataka Urabe ◽  
Yasuhiro Taomoto ◽  
Shinichi Sagara ◽  
Fumiaki Takemura
Keyword(s):  
Underwater Robot ◽  
Dual Arm

Peg-in-hole assembly based on master-slave coordination for a compliant dual-arm robot

2020 ◽  
Vol 40 (2) ◽  
pp. 189-198
Author(s):  
Yanjiang Huang ◽  
Yanglong Zheng ◽  
Nianfeng Wang ◽  
Jun Ota ◽  
Xianmin Zhang
Keyword(s):  
Design Methodology ◽  
Position Control ◽  
Control Model ◽  
Torque Control ◽  
Human Beings ◽  
Content Type ◽  
Different Shapes ◽  
Dual Arm Robot ◽  
Assembly Tasks ◽  
Dual Arm

Purpose The paper aims to propose an assembly scheme based on master–slave coordination for a compliant dual-arm robot to complete a peg-in-hole assembly task. Design/methodology/approach The proposed assembly scheme is inspired by the coordinated behaviors of human beings in the assembly process. The left arm and right arm of the robot are controlled to move alternately. The fixed arm and the moving arm are distinguished as the slave arm and the master arm, respectively. The position control model is used at the uncontacted stage, and the torque control model is used at the contacted stage. Findings The proposed assembly scheme is evaluated through peg-in-hole assembly experiments with different shapes of assembly piece. The round, triangle and square assembly piece with 0.5 mm maximum clearance between the peg and the hole can be assembled successfully based on the proposed method. Furthermore, three assembly strategies are investigated and compared in the peg-in-hole assembly experiments with different shapes of assembly piece. Originality/value The contribution of this study is that the authors propose an assembly scheme for a compliant dual-arm robot to overcome the low positioning accuracy and complete the peg-in-hole assembly tasks with different shapes parts.

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