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

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Two-Arm Cooperative Assembly Using Force-Guided Control with Adaptive Accommodation

적응 순응성을 갖는 힘-가이드 제어 기법을 이용한 두 팔 로봇 협동 조립작업

  • Choi, Jong-Dho ;
  • Kang, Sung-Chul (Human Robot Research Center, Korea Institute of Science and Technology) ;
  • Kim, Mun-Sang (Human Robot Research Center, Korea Institute of Science and Technology) ;
  • Lee, Chong-Won (Human Robot Research Center, Korea Institute of Science and Technology) ;
  • Song, Jae-Bok (Dept.of Mechanical Engineering, Korea Uni)
  • 최종도 (우리기술(주) 연구원) ;
  • 강성철 (한국과학기술연구원 휴먼로봇연구센터) ;
  • 김문상 (한국과학기술연구원 휴먼로봇연구센터) ;
  • 이종원 (한국과학기술연구원 휴먼로봇연구센터) ;
  • 송재복 (고려대학교 기계공학과)
  • Published : 2000.03.01
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Abstract

In this paper a new two-arm cooperative assembly(or insertion) algorithm is proposed. As a force-guided control method for the cooperative assembly the adaptive accommodation controller is adopted since it does not require any complicated contact state analysis nor depends of the geometrical complexity of the assembly parts. Also the RMRC(resolved motion rate control) method using a relative jacobian is used to solve inverse kinematics for two manipulators. By using the relative jacobian the two cooperative redundant manipulators can be formed as a new single redundant manipulator. Two arms can perform a variety of insertion tasks by using a relative motion between their end effectors. A force/torque sensing model using an approximated penetration depth calculation a, is developed and used to compute a contact force/torque in the graphic assembly simulation . By using the adaptive accommodation controller and the force/torque sensing model both planar and a spatial cooperative assembly tasks have been successfully executed in the graphic simulation. Finally through a cooperative assembly task experiment using a humanoid robot CENTAUR which inserts a spatially bent pin into a hole its feasibility and applicability of the proposed algorithm verified.

Keywords

References

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