scholarly journals Coordinated Resolved Motion Control of Dual-Arm Manipulators with Closed Chain

10.5772/63430 ◽  
2016 ◽  
Vol 13 (3) ◽  
pp. 80 ◽  
Author(s):  
Tianliang Liu ◽  
Yan Lei ◽  
Liang Han ◽  
Wenfu Xu ◽  
Huaiwu Zou
Keyword(s):  
Motion Control ◽  
Closed Chain ◽  
Dual Arm

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.

Coordinated motion control of a dual-arm space robot for assembling modular parts

2020 ◽  
Vol 177 ◽  
pp. 627-638
Author(s):  
Shuji Yang ◽  
Hao Wen ◽  
Yunhao Hu ◽  
Dongping Jin
Keyword(s):  
Motion Control ◽  
Space Robot ◽  
Coordinated Motion ◽  
Dual Arm

Coordinated Motion Control of Dual-arm Mobile Manipulator

2003 ◽  
Vol 2003.9 (0) ◽  
pp. 479-480
Author(s):  
Takeshi Araya ◽  
Shinichi Imazawa ◽  
Kouji Kamimizu ◽  
Yoshio Yamamoto
Keyword(s):  
Motion Control ◽  
Mobile Manipulator ◽  
Coordinated Motion ◽  
Dual Arm

Geometric parameter identification of a dual-arm robot by using closed-chain constraint and optimization technique

2017 ◽  
Vol 232 (7) ◽  
pp. 1294-1302 ◽  
Author(s):  
Wu-Te Yang ◽  
Kuan-Lin Li ◽  
Kuei-Yuan Chan ◽  
Pei-Chun Lin
Keyword(s):  
Optimization Technique ◽  
Constraint Equation ◽  
Calibration Method ◽  
Kinematic Parameter ◽  
Motion Generation ◽  
Positioning Accuracy ◽  
Closed Chain ◽  
Controller Performance ◽  
Dual Arm Robot ◽  
Dual Arm

The positioning accuracy of the empirical robot manipulators is determined by various factors, such as kinematic accuracy, structure rigidity, and controller performance. Here, we report on the development of a new and straightforward technique to calibrate the kinematic parameters of a dual-arm robot under uncertainty. In comparison with other techniques, which generally rely on using other instruments to calibrate the manipulators, the proposed method utilizes the intrinsic characteristics of the dual-arm robot for calibration. In particular, when the two arms grasp each other, a formed closed chain can be operated as the constraint equation for the kinematic parameter optimization of the two arms. In the optimization process, the dual-arm robot has to pose in various configurations to yield better performance, and thus a motion generation strategy of the dual-arm robot is proposed, where one arm serves as the master to track the designated trajectory and the other arm serves as the slave to track the motion of the master arm by using a compliance control strategy. The proposed calibration method was experimentally validated, and the results confirm that the positioning accuracy of both arms can be improved.

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 Adaptive coordinated motion control with variable forgetting factor for a dual-arm space robot in post-capture of a noncooperative target

2019 ◽  
Vol 16 (5) ◽  
pp. 172988141987234 ◽  
Author(s):  
Chunting Jiao ◽  
Jun Yang ◽  
Xueqian Wang ◽  
Bin Liang
Keyword(s):  
Motion Control ◽  
Adaptive Filtering ◽  
Null Space ◽  
Space Robot ◽  
Forgetting Factor ◽  
Coordinated Motion ◽  
Output Measurement ◽  
Filtering Algorithm ◽  
Variable Forgetting Factor ◽  
Dual Arm

To overcome the problem of dynamics coupling between a space robot and a target satellite, this study introduces a new coordinated motion control approach with an adaptive filtering algorithm for a dual-arm free-floating space robot. Based on the reaction null space control scheme, one arm is used to complete the capture task and the other to counteract disturbance to the space base. However, when space robot captures a noncooperative target, the system may experience abrupt changes in dynamic parameters and output measurement noise, which can cause traditional control methods to achieve poor results in practical applications. Thus, an adaptive filtering algorithm with a variable forgetting factor is proposed to improve the tracking capabilities and robustness of the system. The convergence analysis is performed based on a Lyapunov function. The simulation results demonstrate the effectiveness of the proposed algorithm.

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