Dual arm robot for flexible and cooperative assembly

Krüger, Jörg; Schreck, G.; Šurdilović, Dragoljub

doi:10.1016/j.cirp.2011.03.017

Cited by 84 publications

(29 citation statements)

References 3 publications

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“…The potential benefits of endowing robots, such as the one in Figure 1, with two arms fall into four main categories, first, teleoperation is easier if the robot is similar to the operator (Jau, 1988;Yoon et al, 1999;Kron and Schmidt, 2004;Buss et al, 2006;Taylor and Seward, 2010), second, using tools and workflows designed for humans is easier if the robot is similar to a human (Kemp et al, 2007;Fuchs et al, 2009;Bloss, 2010;Kr uger et al, 2011), third, the two arms can either provide additional strength and precision by cooperating as a parallel manipulator, or provide flexibility and speed by doing two separate tasks simultaneously (Lee and Kim, 1991), fourth, the two arms can perform task that are inherently bi-manual (Chiacchio and Chiaverini, 1998;Caccavale et al, 2000). i.e., tasks that require motion of both arms to be carried out efficiently.…”

Section: Introductionmentioning

confidence: 99%

A Multi Objective Control approach to Online Dual Arm Manipulation1

Ögren

Smith

Karayiannidis

et al. 2012

IFAC Proceedings Volumes

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Section: Introductionmentioning

confidence: 99%

A Multi Objective Control approach to Online Dual Arm Manipulation1

Ögren

Smith

Karayiannidis

et al. 2012

IFAC Proceedings Volumes

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“…There are many dual-arm robots applied in varied industrial tasks, such as assembly task and pick-andplace task. [1][2][3] Recently, several types of dual-arm robots, such as Baxter robot, 4 YUMI robot, 5 and NEXTAGE robot, 6 have been widely applied in the industrial field, especially for the assembly task. Normally, the accuracy of assembly can be improved using precise hardware of robot or based on some soft technologies including sensing, controlling, planning, and programming.…”

Section: Introductionmentioning

confidence: 99%

Vision-guided peg-in-hole assembly by Baxter robot

Huang

Zhang

Chen

et al. 2017

Advances in Mechanical Engineering

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Dual-arm robot Baxter has been utilized in many applications. To use the Baxter robot realize a peg-in-hole assembly task, we proposed a step-by-step grasping strategy and a vision-guidance method for the Baxter robot. The step-by-step grasping strategy was used to position and grasp a peg and a hole on the working platform. At the assembling process, the positioning error was derived by the camera attached on the robot end-effector, and the positioning error was compensated through proportional-integral-derivative controller. Experiments were conducted to evaluate the grasping strategy and the vision-guidance method. Experimental results show that the Baxter robot can grasp the peg and the hole from the working platform, and the peg in hole with 1 mm clearance can be assembled successfully.

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“…NASA applied this method to their Robonaut2 simulation. Typically, the impedance controller, which is mentioned above, is used for docking with peg and hole [14], assembly [15] and moving objects [16]. Besides, a variety of control techniques has been developed for flexible manipulators [24], linear motor with highfrequency dynamics [25] and space robots for capturing a non-cooperative target [26][27][28].…”

Section: Introductionmentioning

confidence: 99%

Adaptive Impedance Controller for a Robot Astronaut to Climb Stably in a Space Station

Wei

Jiang

et al. 2016

International Journal of Advanced Robotic Systems

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Maintaining stability is a significant challenge during the control of a robot astronaut while climbing with humanlike dual-arm action in a space station. This challenge is caused by conflicting force generated by dynamic internal forces in the closed chain during dual-arm climbing. In general, an impedance controller is suitable for solving this problem. However, the conflicting force in the rigid closed chain is stored in the virtual spring of the impedance controller (especially in microgravity), where even small disturbances cause a significant change in robot astronaut movements. As such, it is difficult to select suitable control parameters for the stable climbing of a robot astronaut. This paper proposes an adaptive algorithm to optimize the impedance controller parameters. This eliminates conflicting force disturbances, with one arm in compliance with the motion of the other. It provides scope for achieving stable motion without the need for precise control parameters. Finally, the stability of the proposed algorithm is demonstrated by Lyapunov theory using a robot called ASTROBOT. The experimental results show the validity of the proposed algorithm.

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Dual arm robot for flexible and cooperative assembly

Cited by 84 publications

References 3 publications

A Multi Objective Control approach to Online Dual Arm Manipulation1

A Multi Objective Control approach to Online Dual Arm Manipulation1

Vision-guided peg-in-hole assembly by Baxter robot

Adaptive Impedance Controller for a Robot Astronaut to Climb Stably in a Space Station

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