Force Sensor-less Interaction Force Control in the De-burring Task Using Dual-arm Manipulation
- Title
- Force Sensor-less Interaction Force Control in the De-burring Task Using Dual-arm Manipulation
- Author
- 최영진
- Issue Date
- 2008-09
- Publisher
- IEEE
- Citation
- 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, Page. 967-973
- Abstract
- In tightly coupled cooperative manipulation of two
arms, an interaction force control is one of the important issues.
In this paper, a sensor-less interaction force control in a
de-burring task using a dual-arm is introduced. The dual arm
manipulation increases the motion dexterity in the de-burring
task as compared to the single arm manipulation. A closed form
interaction force control algorithm is proposed, which does not
require any force sensor. In the motion planning, the 12
Lagrangian coordinates of the system are decomposed into 9
motion degrees and 3 constrained degrees. Then, the whole dual
arm can be modeled as a kinematically redundant robot. The
primary task is to control the 9 motion degrees and the
secondary task is to control the interaction force and the relative
motion between the two arms. The concept of virtual joints is
employed to represent the constrained degrees, which include
the interaction force and the relative motion between the two
arms. Through the simulation results, we show that the smooth
de-burring task can be accomplished by using the suggested
interaction force model without force sensor.
- URI
- https://ieeexplore.ieee.org/document/4651225https://repository.hanyang.ac.kr/handle/20.500.11754/104852
- ISBN
- 978-142442058-2
- ISSN
- 2153-0858
- DOI
- 10.1109/IROS.2008.4651225
- Appears in Collections:
- COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ELECTRICAL ENGINEERING(전자공학부) > Articles
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