Journal of the Korean Society of Industry Convergence (한국산업융합학회 논문집)

The Korean Society of Industry Convergence (한국산업융합학회)
권호 표지
DOI QR코드

DOI QR Code

A Study on Flexible Control of Dual Arm-Mobile Robot for Smart Factory

스마트펙토리를 위한 듀얼암을 갖는 모바일 로봇의 유연제어에 관한 연구

  • Received : 2016.05.12
  • Accepted : 2016.06.08
  • Published : 2016.06.30
Download PDF
⟨ Previous Next ⟩

Abstract

This study proposes a new approach to design of the robust control application of a mobile manipulator with dual-arm. The mobil manipulator robot system consists of 12 DOF manipulators and a mobile robot. Kinematics of the robotics has been analyzed and simulated to verify reliability. A position-based torque control technique is applied to the robot by adding an outer loop to interact with the environment. Experimental studies of torque control applications of robot arm and interaction with a user operator are conducted. Experimental results has been proved that the robot arm performed regulated to follow the desired reference.

Keywords

References

  1. M. Raibert and J. J. Craig, "Hybrid position and force control of manipulators," ASME Journal of Dynamics Systems, Measurement, and Control, pp. 126-133, 1981.
  2. J. K. Ahn and S. Jung, "Implementation and control of an extendable and separable mobile robot manipulator for indoor service," Journal of Institute of Electronics Engineering, SC, no. 1, pp. 39-46, 2011.
  3. H.-J. Lee and S. Jung, "Balancing control of a two wheeled mobile robot system," Journal of Institute of Electronics Engineering, SC, no. 6, pp. 468-474, 2011.
  4. C. H. Park and K. T. Park, "Design and control of industrial dual arm robot," Korean Society of Precision Engineering, vol. 25, no. 11, pp. 58-65, 2008.
  5. S. Jung and T. C. Hsia, "Neural network impedance force control of robot manipulator," IEEE Trans. on Industrial Electronics, vol. 45, no. 3, pp. 451-461, 1998. https://doi.org/10.1109/41.679003
  6. Segway, "http://segway.com
  7. H. W. Jeon and S. Jung "Implementation of an embedded system for an interaction between robot arm and human arm based on force control," Journal of Institute of Control, Robotics, and Systems (in Korean), vol. 15, no. 11, pp. 1096-1101, 2009. https://doi.org/10.5302/J.ICROS.2009.15.11.1096
  8. M. S. Choi, S. J. Lim, J. Y. Lee, C. S. Han, "Cooperative path planning for redundant dual-arm robot using low-dimensional sampling-based algorithm," International Federation of Automatic Control(IFAC), 2010.
  9. R. J. Anderson and M. W. Spong, "Hybrid impedance control of robot manipulators," Proc. of IEEE Conference on Robotics and Automations, pp. 549-556, 1988.