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Optimal Control of Holding Motion by Nonprehensile Two-Cooperative-Arm Robot
Joint Authors
Jiang, Changan
Nakatomi, Yuta
Ueno, Satoshi
Source
Mathematical Problems in Engineering
Issue
Vol. 2016, Issue 2016 (31 Dec. 2016), pp.1-11, 11 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2016-09-14
Country of Publication
Egypt
No. of Pages
11
Main Subjects
Abstract EN
Recently, more researchers have focused on nursing-care assistant robot and placed their hope on it to solve the shortage problem of the caregivers in hospital or nursing home.
In this paper, a nonprehensile two-cooperative-arm robot is considered to realize holding motion to keep a two-rigid-link object (regarded as a care-receiver) stable on the robot arms.
By applying Newton-Euler equations of motion, dynamic model of the object is obtained.
In this model, for describing interaction behavior between object and robot arms in the normal direction, a viscoelastic model is employed to represent the normal forces.
Considering existence of friction between object and robot arms, LuGre dynamic model is applied to describe the friction.
Based on the obtained model, an optimal regulator is designed to control the holding motion of two-cooperative-arm robot.
In order to verify the effectiveness of the proposed method, simulation results are shown.
American Psychological Association (APA)
Jiang, Changan& Nakatomi, Yuta& Ueno, Satoshi. 2016. Optimal Control of Holding Motion by Nonprehensile Two-Cooperative-Arm Robot. Mathematical Problems in Engineering،Vol. 2016, no. 2016, pp.1-11.
https://search.emarefa.net/detail/BIM-1112374
Modern Language Association (MLA)
Jiang, Changan…[et al.]. Optimal Control of Holding Motion by Nonprehensile Two-Cooperative-Arm Robot. Mathematical Problems in Engineering No. 2016 (2016), pp.1-11.
https://search.emarefa.net/detail/BIM-1112374
American Medical Association (AMA)
Jiang, Changan& Nakatomi, Yuta& Ueno, Satoshi. Optimal Control of Holding Motion by Nonprehensile Two-Cooperative-Arm Robot. Mathematical Problems in Engineering. 2016. Vol. 2016, no. 2016, pp.1-11.
https://search.emarefa.net/detail/BIM-1112374
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1112374