J4 ›› 2015, Vol. 12 ›› Issue (3): 361-371.doi: 10.1016/S1672-6529(14)60128-1
A Unified Dynamic Control Method for a Redundant Dual Arm Robot
Meiling Wang1,2, Minzhou Luo1,2, Tao Li2, Marco Ceccarelli3
- 1. Department of Automation, University of Science and Technology of China, Hefei 230026, China
2. Institute of Advanced Manufacturing Technology, Hefei Institute of Physical Science,
Chinese Academy of Sciences, Changzhou 213164, China
3. LARM Laboratory of Robotics and Mechatronics, DiMSAT-University of Cassino,
Via Di Biasio 43, 03043 Cassino (Fr), Italy
A Unified Dynamic Control Method for a Redundant Dual Arm Robot
Meiling Wang1,2, Minzhou Luo1,2, Tao Li2, Marco Ceccarelli3
- 1. Department of Automation, University of Science and Technology of China, Hefei 230026, China
2. Institute of Advanced Manufacturing Technology, Hefei Institute of Physical Science,
Chinese Academy of Sciences, Changzhou 213164, China
3. LARM Laboratory of Robotics and Mechatronics, DiMSAT-University of Cassino,
Via Di Biasio 43, 03043 Cassino (Fr), Italy
摘要：
Compared to single arm robot system, dual arm robot has the ability of performing human-like dexterity and cooperation. Dual arm cooperative operation has attracted more and more attention in industrial applications, such as in assembly of complex parts, manufacturing tasks and handling objects. A unified dynamic control method, which is divided into three modes, namely, independent mode, dependent mode, and half dependent mode, is proposed for a redundant dual arm robot with focus on the movement and force of the desired task being operated. Attention is devoted to develop a unified formulation of the above three modes. In addition, a closed form of inverse kinematic solution instead of numerical integration approach is proposed with the aim to guarantee position accuracy. Different from traditional dynamic controllers, where the independent redundancy resolu-tion is obtained based on particular velocity or acceleration levels, here the two dynamic controllers are improved by combining a closed form of inverse kinematic solution with velocity and acceleration levels. Furthermore, the theoretical results of the proposed control method are validated by simulations and experiments.