Research on dual-arm robot coordinated transportation method based on admittance control
文献类型：会议论文
| 作者 | Zhang ZR(张子润)1,2 ; Zhang, Jun1; Lei, Maolin3; Zhang, Dawei1
|
| 出版日期 | 2021 |
| 会议日期 | October 22-24, 2021 |
| 会议地点 | Beijing, China |
| 关键词 | admittance controller dual-arm robot force controller kinematics model position |
| 页码 | 4258-4262 |
| 英文摘要 | This paper presents a force coordinated operation control method based on admittance controller to complete the transportation tasks using dual-arm robot. Firstly, the D-H model of the robot is constructed to build the kinematics model about the dual-arm robot. Then, the forward and inverse kinematics of the robot are analyzed according to the above kinematics model. Furthermore, the constraints of the position and orientation for each arm are established. Lastly, based on the admittance control framework, the force controller between the end-effector of each robotic arm and the object is developed. The feasibility and effectiveness of the presented controller are verified by the simulation and experiment. |
| 产权排序 | 1 |
| 会议录 | Proceeding - 2021 China Automation Congress, CAC 2021
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | New York |
| 语种 | 英语 |
| ISBN号 | 978-1-6654-2647-3 |
| 源URL | [http://ir.sia.cn/handle/173321/30801]  |
| 专题 | 沈阳自动化研究所_空间自动化技术研究室 |
| 通讯作者 | Zhang ZR(张子润) |
| 作者单位 | 1.Shenyang University of Technology, School of Artificial Intelligence, Shenyang, China 2.Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China 3.Northeastern University, Department of Mechanical Engineering and Automation, Shenyang, China |
| 推荐引用方式 GB/T 7714 | Zhang ZR,Zhang, Jun,Lei, Maolin,et al. Research on dual-arm robot coordinated transportation method based on admittance control[C]. 见:. Beijing, China. October 22-24, 2021. |
入库方式： OAI收割
来源：沈阳自动化研究所
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