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
- 이병주
- Issue Date
- 2008-00
- Publisher
- IEEE
- Citation
- 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS, article no. 4651225, 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. ©2008 IEEE.
- URI
- https://ieeexplore.ieee.org/document/4651225https://repository.hanyang.ac.kr/handle/20.500.11754/181107
- ISSN
- 2153-0858;2153-0866
- DOI
- 10.1109/IROS.2008.4651225
- Appears in Collections:
- COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ELECTRICAL ENGINEERING(전자공학부) > Articles
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