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A Unified Dynamic Control Method for a Redundant dual arm robot

Journal of Bionic Engineering 2015年第3期12卷 361-371页

作者： Meiling Wang Minzhou Luo Tao Li Marco Ceccarelli Department of Automation University of Science and Technology of China Hefei 230026 China Institute of Advanced Manufacturing Technology Hefei Institute of Physical Science Chinese Academy of Sciences Changzhou 213164 China Larm Laboratory of robotics and Meehatronies DiMSAT-University of Cassino Via Di Biasio 43 03043 Cassino (Fr) Italy

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 resolution 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.

关键词： unified control method dual arm robot dynamic constraints intemal force

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