Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지
DOI QR코드

DOI QR Code

Motion Planning of Bimanual Robot Using Bimanual Task Compatibility

작업 적합도를 이용한 양팔 로봇의 운동 계획

  • 황면중 (한국과학기술원 기계공학) ;
  • 정성엽 (충주대학교 기계공학과) ;
  • 이두용 (한국과학기술원 기계공학)
  • Published : 2008.07.01
Download PDF
⟨ Previous Next ⟩

Abstract

A cost-function based on manipulability and compatibility is designed to determine assembly motions of two cooperating manipulators. Assembly motions are planned along the direction maximizing performance indices to improve control performance of the two manipulators. This paper proposes bimanual task compatibility by defining cost functions. The proposed cost functions are applied and compared to the bimanual assembly task. The problem is formulated as a constrained optimization considering assembly constraints, position of the workpieces, and kinematics and redundancy of the bimanual robot. The proposed approach is evaluated with simulation of a peg-in-hole assembly with an L-shaped peg and two 3-dof manipulators.

Keywords

References

  1. S. B. Moon and S. Ahmad, 'Time-optimal trajectories for cooperative multi-manipulator systems," IEEE Transactions on Systems, Man, and Cybernetics-Part B: Cybernetics, vol. 27, no. 2, pp. 343-353, April 1997 https://doi.org/10.1109/3477.558843
  2. F. Caccavale, C. Natale, B. Siciliano, and L. Villani, "Control of two industrial robots for parts mating," Proc. the IEEE International Conference on Control Applications, Trieste. Italy, pp. 562-566, Sep. 1998
  3. S. Sakakibara, "A Two-armed intelligent robot assembles mini robots automatically," Proc. the IEEE International Conference on Industrial Electronics, Control, and Instrumentation, Taipei, Taiwan, Aug. 1996, pp. 1879-1883
  4. T. Yoshikawa, "Analysis and control of robot manipulators with redundancy," in Proceedings of the I" International Symposium of Robotics Research, Cambridge, MA, MIT Press, pp. 735-747, 1984
  5. S. Lee, "Dual redundant ann configuration optimization with task-oriented dual ann manipulability," IEEE Transactions on Robotics and Automation, vol. 5, no. 1, pp. 78-97, Feb. 1989 https://doi.org/10.1109/70.88020
  6. Y. Bouffard-Vercelli, P. Dauchez, and X. Delebarre, "Forcecontrolled assembly with a two-ann robot: how and where to perform it within the workspace," in Proceeding of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Yokohama, Japan, July 26-30, pp. 1977-1984, 1993
  7. S. Chiu, "Control of redundant manipulators for task compatibility," in Proceedings of the IEEE International Conference on Robotics and Automation, Raleigh, NC, USA, Mar. 31-Apr. 3, pp. 1718-1724, 1987
  8. A. D. Belegundu and T. R. Chandrupatla, Optimization Concepts and Application in Engineering, Prentice Hall, 1999, pp. 183-188
  9. M. J. Hwang, S. Y. Chung, and D. Y. Lee, "Assembly approach for bimanual robots," Proceedings of the 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, pp. 1482-1487, Monterey, CA, USA, July 24-28, 2005

Cited by

  1. Optimized Motion Planning Considering the Lifetime for Bimanual Robotic Assembly vol.21, pp.10, 2015, https://doi.org/10.5302/J.ICROS.2015.15.0085