Adaptive Hybrid Force/Position Control Using Neuro-Adaptive Observer for Dual-Arm Robot

2020 ◽  
Vol 13 (6) ◽  
pp. 313
Author(s):  
Luu Thi Hue ◽  
Nguyen Pham Thuc Anh ◽  
Duong Minh Duc
Keyword(s):  
Position Control ◽  
Adaptive Observer ◽  
Dual Arm Robot ◽  
Dual Arm

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

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.

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.

A Dual-Arm Robot for Collaborative Vision-Based Object Classification

2020 ◽  
Author(s):  
Ali Zahavi ◽  
Shahriar Najafi Haeri ◽  
Dhanushka Chamara Liyanage ◽  
Mart Tamre
Keyword(s):  
Object Classification ◽  
Dual Arm Robot ◽  
Dual Arm

scholarly journals Comparative study on the redundancy of mobile single- and dual-arm robots

2016 ◽  
Vol 13 (6) ◽  
pp. 172988141666678
Author(s):  
Hongxing Wang ◽  
Ruifeng Li ◽  
Yunfeng Gao ◽  
Chuqing Cao ◽  
Lianzheng Ge
Keyword(s):  
Rate Control ◽  
Control Algorithm ◽  
Redundant Robot ◽  
Motion Models ◽  
Redundant Robots ◽  
Operational Space ◽  
Rate Control Algorithm ◽  
Simulation Results ◽  
Dual Arm Robot ◽  
Dual Arm

A whole resolved motion rate control algorithm designed for mobile dual-arm redundant robots is presented in this article. Based on this algorithm, the end-effector movements of the dual arms of the mobile dual-arm redundant robot can be decomposed into the movements of the two driving wheels of the differential driving platform and the movements of the dual-arm each joint of this robot harmoniously. The influence of the redundancies of the single- and dual-arm robots on the operation based on the fixed- and differential-driving platforms, which are then based on the whole resolved motion rate control algorithm, is studied after building their motion models. Some comparisons are made to show the advantages of this algorithm on the entire modeling of the complicated robotic system and the influences of the redundancy. First, the comparison of the simulation results between the fixed single-arm robot and the mobile single-arm robot is presented. Second, a comparison of the simulation results between the mobile single-arm robot and the mobile dual-arm robots is shown. Compared with the mobile single-arm robot and the fixed dual-arm robot based on this algorithm, the mobile dual-arm robot has more redundancy and can simultaneously track and operate different objects. Moreover, the mobile dual-arm redundant robot has better smoothness, more flexibility, larger operational space, and more harmonious cooperation between the two arms and the differential driving platform during the entire mobile operational process.

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.

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