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Impedance Model-Based Optimal Regulation on Force and Position of Bimanual Robots to Hold an Object
Complexity ( IF 2.3 ) Pub Date : 2020-11-17 , DOI: 10.1155/2020/3561807
Darong Huang 1 , Hong Zhan 1 , Chenguang Yang 2
Affiliation  

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.

中文翻译:

基于阻抗模型的双臂机器人握持物体力和位置的最佳调节

双向机器人已经研究了数十年,近年来,由两个机械手对被保持物的内力进行调节成为研究热点。本文基于阻抗模型,提出了一种获取双手机器人最优目标位置的方法。我们引入了一个将力和位置的误差相结合的成本函数,并设法将其值最小化,以获得机器人末端执行器(EE)的最佳坐标。为了实现该方法,提出了两种必要的算法,即从所需的EE姿势算出关节位置的闭环逆运动学(CLIK)方法和基于广义动量的外力观察器以测量作用于机器人的受力。 EE,以适当补偿接头扭矩。为了验证有效性,
更新日期:2020-11-17
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