Kinematic Modeling and Simulation of Dual-Arm Robot

Abstract

In recent years, dual-arm robots have attracted more and more attention due to their advantages such as strong cooperation ability and high flexibility. With the improvement of real-time requirement of dual-arm cooperation, the inverse kinematics solution of robot becomes a key problem to be solved urgently. To solve the time-consuming problem of inverse kinematics of robot arm, a closed inverse kinematics solution algorithm for humanoid dual-arm robot was proposed. The effectiveness of the algorithm was verified by simulation.

On the Relative Kinematics and Control of Dual-Arm Cutting Robots for a Coal Mine

“…Many challenges arise from advanced dual-arm tunneling robotic systems for coal mines, among which the accurate motion control of the DACR is a crucial issue. Some researchers have discussed kinematics models [4][5][6][7] and control strategies [8][9][10][11][12] for dual-arm robots. Lee et al [13] transformed the inverse kinematics problem of the robots into a mathematical optimization problem to replace traditional numerical methods, such as the Jacobian matrix.…”

Robot Coordination: Aeronautic Use Cases Handling Large Parts

“…An advantage of multi-robot cooperation resides in the possibility of operating independently or together [3,7,[27][28][29][30][31], in either coordinated/cooperative or uncoordinated tasks [32]. In the first type of operation, the robots follow one another, and the robots and objects interact during the task.…”