• Title/Summary/Keyword: Dual-arm robot

Search Result 80, Processing Time 0.022 seconds

Intuitive Programming of Dual-Arm Robot Tasks using Kinesthetic Teaching Method (직접교시에 의한 직관적인 양팔로봇 작업 생성)

  • Kim, Peter Ki;Park, Hyeonjun;Bae, Ji-Hun;Park, Jae-Han;Lee, Dong-Hyuk;Park, Jaeheung;Kyung, Jin-Ho;Baeg, Moon-Hong
    • Journal of Institute of Control, Robotics and Systems
    • /
    • v.22 no.8
    • /
    • pp.656-664
    • /
    • 2016
  • While anthropomorphic robots are gaining interest, dual-arm robots are widely used in the industrial environment. Many methods exist in order to implement bimanual tasks by dual-arm robot. However, kinesthetic teaching is used in this paper. This paper suggests three different kinesthetic teaching methods that can implement most of the human task by the robot. The three kinesthetic teaching methods are joint level, task level, and contact level teaching. The task introduced in this paper is box packing, which is a popular and complex task in industrial environment. The task is programmed into the dual-arm robot by utilizing the suggested kinesthetic teaching method, and this paper claims that most tasks can be implemented by using the suggesting kinesthetic teaching methods.

Real-Time Fuzzy Control for Dual-Arm with 8 Joints Robot Using the DSPs(TMS320C80) (DSPs(TMS320C80)을 이용한 8축 듀얼 아암 로봇의 실시간 퍼지제어)

  • 한성현;김종수
    • Transactions of the Korean Society of Machine Tool Engineers
    • /
    • v.13 no.1
    • /
    • pp.35-47
    • /
    • 2004
  • In this paper presents a new approach to the design and real-time implementation of fuzzy control system based-on digital signal processors(DSP:IMS320C80) in order to improve the precision and robustness for system of industrial robot(Dual-Arm with 8 joint Robot). The need to meet demanding control requirement in increasingly complex dynamical control systems under significant uncertainties, leads toward design of intelligent manipulation robots. The IMS320C80 is used in implementing real time fuzzy control to provide an enhanced motion control for robot manipulators. In this paper, a Self-Organizing Fuzzy Controller(SOFC) for the industrial robot manipulator with a actuator located at the base is studied. A fuzzy logic composed of linguistic conditional statements is employed by defining the relations of input-output variables of the controller. In the synthesis of a FLC(Fuzzy Logic Controller), one of the most difficult problems is the determination of linguistic control rules from the human operators. To overcome this difficult SOFC is proposed for a hierarchical control structure consisting of basic and high levels that modify control rules. The proposed SOFC scheme is simple in structure, Int in computation, and suitable for implementation of real-time control. Performance of the SOFC is illustrated by simulation and experimental results for a Dual-Arm robot with eight joints.

Optimal Task Planning for Collision-Avoidance of Dual-Arm Robot Using Neural Network (신경회로망을 이용한 이중암 로봇의 충돌회피를 위한 최적작업계획)

  • 최우형
    • Proceedings of the Korean Society of Machine Tool Engineers Conference
    • /
    • 2000.04a
    • /
    • pp.176-181
    • /
    • 2000
  • Collision free task planning for dual-arm robot which perform many subtasks in a common work space can be achieved in two steps : path planning and trajectory planning. path planning finds the order of tasks for each robot to minimize path lengths as well as to avoid collision with static obstacles. A trajectory planning strategy is to let each robot move along its path as fast as possible and delay one robot at its initial position or reduce speed at the middle of its path to avoid collision with the other robot.

  • PDF

Tele-Operation of Dual Arm Robot Using 3-D vision

  • Shibagami, Genjirou;Itoh, Akihiko;Ishimatsu, Takakazu
    • 제어로봇시스템학회:학술대회논문집
    • /
    • 1998.10a
    • /
    • pp.386-390
    • /
    • 1998
  • A master-slave system is proposed as a teaching device for a dual arm robot. The slave robots are remotely controlled by two delta-type master arms. In order to help the operator to observe the target object from the desired position and desired direction, cameras are mounted on a specialized manipulator, Movements of two slave arms are coordinated with that of the cameras. Due to this coordinated movements, the operator needs not to care the geometrical relation between the cameras and the slave robots.

  • PDF

Optimal Collision-Avoidance Task Planning for Dual-Arm Using Neural Network (신경회로망을 이용한 Dual-Arm 로봇의 충돌회피 최적작업계획)

  • 최우형;신행봉;윤대식;문병갑;한성현
    • Proceedings of the Korean Society of Machine Tool Engineers Conference
    • /
    • 2001.04a
    • /
    • pp.244-249
    • /
    • 2001
  • Collision free task planning for dual-arm robot which perform many subtasks in a common work space can be achieved in two steps : path planning and trajectory planning. Path planning finds the order of tasks for each robot to minimize path lengths as well as to avoid collision with static obstacles. A trajectory planning strategy is to let each robot move along its path as fast as possible and delay one robot at its initial position or reduce speed at the middle of its path to avoid collision with the other robot.

  • PDF

Optimal Collision-Avoidance Task Planning for Dual-Arm Using Neural Network (뉴럴 네트워크를 이용한 Dual-Arm 로봇의 충돌회피 최적작업계획)

  • 최우형;정동연;배길호;김인수;한성현
    • Proceedings of the Korean Society of Machine Tool Engineers Conference
    • /
    • 2000.10a
    • /
    • pp.113-118
    • /
    • 2000
  • Collision free task planning for dual-arm robot which perform many subtasks in a common work space can be achieved in two steps : path planning and trajectory planning. Path planning finds the order of tasks for each robot to minimize path lengths as well as to avoid collision with static obstacles. A trajectory planning strategy is to let each robot move along its path as fast as possible and delay one robot at its initial position or reduce speed at the middle of its path to avoid collision with the other robot.

  • PDF

A Study on optimal trajectory planning for a dual arm robot (양팔 로보트의 최적궤적 계획에 관한 연구)

  • Park, Man-Sik;Kim, Jong-Hyun;Kim, Jong-Sam;Lee, Suck-Gyu;Bae, Jin-Ho
    • Proceedings of the KIEE Conference
    • /
    • 1993.07a
    • /
    • pp.395-398
    • /
    • 1993
  • This paper proposes an algorithm to find an optimal trajectory for unspecified paths of the tips of two arms of a dual arm robot. The effective handling a specified object of a dual arm robot closely depends on the effective collision avoidance between parts of robot and the object. For time optimal trajectory without collision, a graphical method is applied for a robot with two degree of freedom. The effectiveness of the proposed method is demonstrated by some simulation results.

  • PDF

A Study on Flexible Control of Dual Arm-Mobile Robot for Smart Factory (스마트펙토리를 위한 듀얼암을 갖는 모바일 로봇의 유연제어에 관한 연구)

  • Lee, Woo-Song;Ha, Eun-Tha;Jeong, Yang-Keun;Park, In-Man
    • Journal of the Korean Society of Industry Convergence
    • /
    • v.19 no.2
    • /
    • pp.69-74
    • /
    • 2016
  • 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.

A study on Control of a Dual-arm Robot (양팔 로보트의 제어에 관한 연구)

  • Kim, Jong-Hyun;Kim, Jong-Sam;Park, Man-Sik;Lee, Suck-Gyu;Bae, Jin-Ho
    • Proceedings of the KIEE Conference
    • /
    • 1991.07a
    • /
    • pp.817-821
    • /
    • 1991
  • Coordinated motion control of two arms of a dual-arm robot has been studied by many researchers, because of it's potential application in assembly as well as the handling of large and heavy objects beyond the capacity of single arm. This paper derives dynamic equation of a dual-arm robot, and describes some constrains to pick up a simply shaped object at prespecified position on it. This paper concludes with describing both PD and self-tunning control algorithm for the above task.

  • PDF