Cooperative control experiment on a dual-arm handling robot

Masaru Uchiyama; Tetsuya Kitano; Kunio Miyawaki

doi:10.1299/kikaic.62.202

Cooperative control experiment on a dual-arm handling robot

Masaru Uchiyama, Tetsuya Kitano, Kunio Miyawaki

Research output: Contribution to journal › Article › peer-review

Abstract

In our laboratory, we developed a dual-arm handling robot, called C-ARM (Cooperative-ARM), with the aim of practical application in shipbuilding work. The robot consists of two three-degrees-of-freedom planar arms with force/torque sensors at each joint. The manipulating forces and moments on the object are measured by the sensors. In this paper, we present results of an experiment on cooperative control using this dual-arm robot. The experiment consists of two parts: a fundamental experiment on hybrid position/force control using a symmetric scheme, and an experiment on load sharing. The load sharing is an application of the first experiment in which a quadratic programming algorithm for optimizing the internal forces and moments is used. Experimental results show that the hybrid position/force control scheme works well in cooperative control and that the load sharing optimizes the joint forces/torques of the robot.

Original language	English
Pages (from-to)	202-208
Number of pages	7
Journal	Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Volume	62
Issue number	593
DOIs	https://doi.org/10.1299/kikaic.62.202
Publication status	Published - 1996

ASJC Scopus subject areas

Mechanics of Materials
Mechanical Engineering
Industrial and Manufacturing Engineering

Access to Document

10.1299/kikaic.62.202

Fingerprint Dive into the research topics of 'Cooperative control experiment on a dual-arm handling robot'. Together they form a unique fingerprint.

Cite this

@article{7336b8c6ed0d41ef8088ce33192c274f,

title = "Cooperative control experiment on a dual-arm handling robot",

abstract = "In our laboratory, we developed a dual-arm handling robot, called C-ARM (Cooperative-ARM), with the aim of practical application in shipbuilding work. The robot consists of two three-degrees-of-freedom planar arms with force/torque sensors at each joint. The manipulating forces and moments on the object are measured by the sensors. In this paper, we present results of an experiment on cooperative control using this dual-arm robot. The experiment consists of two parts: a fundamental experiment on hybrid position/force control using a symmetric scheme, and an experiment on load sharing. The load sharing is an application of the first experiment in which a quadratic programming algorithm for optimizing the internal forces and moments is used. Experimental results show that the hybrid position/force control scheme works well in cooperative control and that the load sharing optimizes the joint forces/torques of the robot.",

author = "Masaru Uchiyama and Tetsuya Kitano and Kunio Miyawaki",

year = "1996",

doi = "10.1299/kikaic.62.202",

language = "English",

volume = "62",

pages = "202--208",

journal = "Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C",

issn = "0387-5024",

publisher = "Japan Society of Mechanical Engineers",

number = "593",

}

TY - JOUR

T1 - Cooperative control experiment on a dual-arm handling robot

AU - Uchiyama, Masaru

AU - Kitano, Tetsuya

AU - Miyawaki, Kunio

PY - 1996

Y1 - 1996

N2 - In our laboratory, we developed a dual-arm handling robot, called C-ARM (Cooperative-ARM), with the aim of practical application in shipbuilding work. The robot consists of two three-degrees-of-freedom planar arms with force/torque sensors at each joint. The manipulating forces and moments on the object are measured by the sensors. In this paper, we present results of an experiment on cooperative control using this dual-arm robot. The experiment consists of two parts: a fundamental experiment on hybrid position/force control using a symmetric scheme, and an experiment on load sharing. The load sharing is an application of the first experiment in which a quadratic programming algorithm for optimizing the internal forces and moments is used. Experimental results show that the hybrid position/force control scheme works well in cooperative control and that the load sharing optimizes the joint forces/torques of the robot.

AB - In our laboratory, we developed a dual-arm handling robot, called C-ARM (Cooperative-ARM), with the aim of practical application in shipbuilding work. The robot consists of two three-degrees-of-freedom planar arms with force/torque sensors at each joint. The manipulating forces and moments on the object are measured by the sensors. In this paper, we present results of an experiment on cooperative control using this dual-arm robot. The experiment consists of two parts: a fundamental experiment on hybrid position/force control using a symmetric scheme, and an experiment on load sharing. The load sharing is an application of the first experiment in which a quadratic programming algorithm for optimizing the internal forces and moments is used. Experimental results show that the hybrid position/force control scheme works well in cooperative control and that the load sharing optimizes the joint forces/torques of the robot.

UR - http://www.scopus.com/inward/record.url?scp=0029753947&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=0029753947&partnerID=8YFLogxK

U2 - 10.1299/kikaic.62.202

DO - 10.1299/kikaic.62.202

M3 - Article

AN - SCOPUS:0029753947

VL - 62

SP - 202

EP - 208

JO - Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C

JF - Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C

SN - 0387-5024

IS - 593

ER -