Dual-arm Coordinated Manipulation for Object Twisting with Human Intelligence

Bai, Weibang; Zhang, Ningshan; Huang, Baoru; Wang, Ziwei; Cursi, Francesco; Tsai, Ya-Yen; Xiao, Bo; Yeatman, Eric M.

doi:10.1109/smc52423.2021.9658594

Cited by 10 publications

(4 citation statements)

References 28 publications

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“…Therefore, when the algorithm always has a damping term throughout its operation, it is desirable to make the term as small as possible when it is significantly different from the singularity and reach an expected value that enables the algorithm to perform best when it is in the singular region by an adaptive damping factor. 10 This work requires defining the singular region of the manipulator to determine the master and slave manipulators; thus, the adaptive damping factor is used, 8 and the variation in the damping factor is divided into three segments…”

Section: Dls Jacobian Pseudoinverse and Its Optimizationmentioning

confidence: 99%

Section: Proposed Approachmentioning

confidence: 99%

“…Existing work has obtained the best damping factor through optimization functions, genetic algorithms and neural networks, all of which can obtain good results. 7,[10][11][12] The singularity of a closed-chain system is similar to that of a single manipulator. Park and Kim 13 described the basic singularity of a closed-chain system, where the singularity of the end effector is manifested by the inability of the end of the manipulator to generate velocity in a certain direction.…”

Section: Introductionmentioning

confidence: 99%

“…Existing work has obtained the best damping factor through optimization functions, genetic algorithms and neural networks, all of which can obtain good results. 7,10 –12…”

Section: Introductionmentioning

confidence: 99%

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Singularity avoidance method for dual-arm closed-chain system based on damped least squares

Zhang,

Liu,

Chai

et al. 2023

International Journal of Advanced Robotic Systems

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When two manipulators cooperate to clamp a rigid object, a closed chain with both ends fixed is formed. The singularity of a single manipulator causes the closed chain to be at a singularity, which results in uncertainty in the velocity mapping between the terminal and joint space. This study proposes a closed-chain singularity processing method for dual-arm collaboration, adopting the Jacobian pseudoinverse method based on damped least squares to obtain an approximate solution. During the solution process, the adaptive damping factor is improved by cubic polynomials, and the optimal damping factor is determined by quadratic sequence programming. Furthermore, this study analyzes the kinematic constraints of the closed-chain system and constructs a closed-chain Jacobian to judge whether the system is in a singular region. Finally, the effectiveness of the proposed method is verified through simulations.

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Section: Dls Jacobian Pseudoinverse and Its Optimizationmentioning

confidence: 99%

Section: Proposed Approachmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

“…Existing work has obtained the best damping factor through optimization functions, genetic algorithms and neural networks, all of which can obtain good results. 7,10 –12…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations