Impedance Model-Based Optimal Regulation on Force and Position of Bimanual Robots to Hold an Object
Joint Authors
Huang, Darong
Zhan, Hong
Yang, Chenguang
Source
Issue
Vol. 2020, Issue 2020 (31 Dec. 2020), pp.1-13, 13 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2020-11-17
Country of Publication
Egypt
No. of Pages
13
Main Subjects
Abstract EN
Bimanual robots have been studied for decades and regulation on internal force of the being held object by two manipulators becomes a research interest in recent years.
In this paper, based on impedance model, a method to obtain the optimal target position for bimanual robots to hold an object is proposed.
We introduce a cost function combining the errors of the force and the position and manage to minimize its value to gain the optimal coordinates for the robot end effectors (EE).
To implement this method, two necessary algorithms are presented, which are the closed-loop inverse kinematics (CLIK) method to work out joint positions from desired EE pose and the generalized-momentum-based external force observer to measure the subjected force acting on the EE so as to properly compensate for the joint torques.
To verify the effectiveness, practicality, and adaptivity of the proposed scheme, in the simulation, a bimanual robot system with three degrees of freedom (DOF) in every manipulator was constructed and employed to hold an object, where the results are satisfactory.
American Psychological Association (APA)
Huang, Darong& Zhan, Hong& Yang, Chenguang. 2020. Impedance Model-Based Optimal Regulation on Force and Position of Bimanual Robots to Hold an Object. Complexity،Vol. 2020, no. 2020, pp.1-13.
https://search.emarefa.net/detail/BIM-1141517
Modern Language Association (MLA)
Huang, Darong…[et al.]. Impedance Model-Based Optimal Regulation on Force and Position of Bimanual Robots to Hold an Object. Complexity No. 2020 (2020), pp.1-13.
https://search.emarefa.net/detail/BIM-1141517
American Medical Association (AMA)
Huang, Darong& Zhan, Hong& Yang, Chenguang. Impedance Model-Based Optimal Regulation on Force and Position of Bimanual Robots to Hold an Object. Complexity. 2020. Vol. 2020, no. 2020, pp.1-13.
https://search.emarefa.net/detail/BIM-1141517
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1141517