Coordinated Resolved Motion Control of Dual-Arm Manipulators with Closed Chain

Abstract

When applied to some tasks, such as payload handling, assembling, repairing and so on, the two arms of a humanoid robot will form a closed kinematic chain. It makes the motion planning and control for dual-arm coordination very complex and difficult. In this paper, we present three types of resolved motion control methods for a humanoid robot during coordinated manipulation. They are, respectively, position-level, velocity-level and acceleration-level resolved motion control methods. The desired pose, velocity and acceleration of each end-effector are then resolved according to the desired motion of the payload and the constraints on the closed-chain system without consideration of the internal force. Corresponding to the three cases above, the joint variables of each arm are then calculated using the inverse kinematic equations, at position-level, velocity-level or acceleration-level. Finally, a dynamic modelling and simulation platform is established based on ADAMS and Matlab software. The proposed methods are verified by typical cases. The simulation results show that the proposed control strategy can realize the dual-arm coordinated operation and the internal force of the closed chain during the operation is controlled in a reasonable range at the same time.

Development of Anthropomorphic Dual Arm Robot with Distinct Degrees of Freedom for Coordinated Operations

“…The dual arm robot has more dexterity and flexibility compared to a single manipulator arm to do coordinated tasks [13]. Coordination is achieved by determining the relative pose between the two end effectors.…”

Dual-arm cooperative manipulation based on differential evolution

“…Generally, a single-arm system is defined as kinematically redundant when its degree of motion n (number of joints) is higher than the number of variables m that are necessary to perform a given task (dimension of the task), this is n > m. 5 Since a dual-arm manipulation of a rigid object form a closed kinematic chain, then dual-arm systems are considered kinematically redundant. 1,8 Redundancy solutions admit several joints configuration to reach the same desired end-effector pose, in consequence, the inverse kinematics becomes difficult to solve. A convenient approach to solve this problem is global optimization of a specific objective function.…”

Dual-arm cooperative manipulation under joint limit constraints

“…A pair of cooperative manipulators that manipulates a rigid body forms a closed kinematic chain [9]. For this reason, the manipulators need to maintain precise kinematic coordination and movement synchronisation to avoid damage.…”