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Dynamic coordination of dual-arm robotic systems with joint flexibility
Proceedings. 1988 IEEE International Conference on Robotics and Automation, 2003To understand the dual-arm coordination process and expose some engineering issues, a simple model of the dual-arm part handling process is presented. In this model, it is assumed that each manipulator has joint flexibility. The manipulators may be holding the same rigid object.
Shaheen Ahmad, Heng Guo 0002
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Research on Dual-Arm Coordinated Trajectory Planning in Grid Coordinate Space
2020 IEEE 5th Information Technology and Mechatronics Engineering Conference (ITOEC), 2020In this paper, the coordinated polishing of dual-arm robots is used for research purposes. The virtual space grid established by the raster method in the working space is used as the basis for collision detection. The coordinate space is used to further plan the trajectory of the dual robots, and MATLAB is used for simulation and simulation.
Miao Yu +4 more
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Dual-arm coordinated-motion task specification and performance evaluation
2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016Performing manipulation tasks in human environments often requires coordinated motions. The Extended-Cooperative-Task Space (ECTS) presents a unified representation describing any type of coordinated motions of two end-effectors. This paper focuses on the specification of dual-arm motion tasks based on the ECTS representation and the evaluation of the ...
Hyungju Andy Park, C. S. George Lee
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Multi-cameras visual servoing for dual-arm coordinated manipulation
Robotica, 2017SUMMARYAlthough image-based visual servoing (IBVS) provides good performance in many dual-arm manipulation applications, it reveals some fatal limitations when dealing with a large position and orientation uncertainty. The object features may leave the camera's field of view, and the dual-arm robot may not converge to their goal configurations. In this
Jiadi Qu +3 more
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Workspace Analysis of a Dual-arm Mobile Robot System for Coordinated Operation
2021 IEEE International Conference on Real-time Computing and Robotics (RCAR), 2021With the development of robotics, more and more complicated tasks are expected to be completed by robots, while the operation ability of single-arm robots is limited. To meet this requirement, a mobile dual-arm robot is designed, and the workspace is analyzed. The designed mobile dual-arm robot has a simple and easy-to-operate software system framework
Yue Meng +4 more
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A Vision-Based Coordinated Motion Scheme for Dual-Arm Robots
Journal of Intelligent & Robotic Systems, 2019With the rise of service robots, research on cooperation between two-arm robots has become increasingly important. In this paper, two NAO two-armed robots are used as the experimental platform and are combined with projective geometry, vision, robotics and other knowledge to carry out theoretical derivation and experiments on the coordinated movements ...
Xianlun Wang, Longfei Chen
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On robotic rehabilitation of human dual arms' coordinative function
International Journal of Applied Electromagnetics and Mechanics, 2016Upper limbs cooperative movement functions are very important for us in our everyday life. Due to many kinds of brain diseases, people usually reduced or even lost their half side of body's motion activities, which made it difficult to realize cooperative movements between right and left limbs and in turn greatly reduced their quality of live.
Cao, Sheng +3 more
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Robust coordinated control of a dual-arm space robot
Acta Astronautica, 2017Abstract Dual-arm space robots are more capable of implementing complex space tasks compared with single arm space robots. However, the dynamic coupling between the arms and the base will have a serious impact on the spacecraft attitude and the hand motion of each arm. Instead of considering one arm as the mission arm and the other as the balance arm,
Lingling Shi +2 more
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Coordination control of dual-arm robot based on modeled predictive control
2016 IEEE International Conference on Real-time Computing and Robotics (RCAR), 2016This paper presents a master-slave force hybrid coordinated motion control method which is based on the model predictive control (MPC) algorithm. In the paper, the kinematics model of the dual 6-DOF arms is build. Six axis force sensors are installed at the ends of the two arms, the master arm adopts the position control method and the based on the ...
Ming Jiang +5 more
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Coordinated control of a dual-arm robot for surgical instrument sorting tasks
Robotics and Autonomous Systems, 2019Abstract Surgical instrument sorting tasks are usually performed by medical staff. Because of the large number and special structure of surgical instruments, the manual processing method has certain drawbacks: it is time-consuming, poses an infection risk and has potential for errors. Moreover, a relatively sharp surgical instrument poses a potential
Qihan Wu +5 more
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