Optimal control of holding motion by nonprehensile two-cooperative-arm robot

DOI10.1155/2016/5921871MaRDI QIDQ1793371zbMATH OpenOpenAlexWikidataFDO

Authors Changan Jiang, Yuta Nakatomi, Satoshi Ueno

Publication date 12 October 2018

Published in Mathematical Problems in Engineering (Search for Journal in Brave)

Copyright license Creative Commons Attribution 4.0 International

Full work available at URL https://doi.org/10.1155/2016/5921871

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60) Integer programming (90C10) Automated systems (robots, etc.) in control theory (93C85)

Review text

Summary: Recently, more researchers have focused on nursing-care assistant robot and placed their hope on it to solve the shortage problem of the caregivers in hospital or nursing home. In this paper, a nonprehensile two-cooperative-arm robot is considered to realize holding motion to keep a two-rigid-link object (regarded as a care-receiver) stable on the robot arms. By applying Newton-Euler equations of motion, dynamic model of the object is obtained. In this model, for describing interaction behavior between object and robot arms in the normal direction, a viscoelastic model is employed to represent the normal forces. Considering existence of friction between object and robot arms, LuGre dynamic model is applied to describe the friction. Based on the obtained model, an optimal regulator is designed to control the holding motion of two-cooperative-arm robot. In order to verify the effectiveness of the proposed method, simulation results are shown.

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Cites work

• A new model for control of systems with friction
• Further results on adaptive iterative learning control of robot manipulators
• Robust Control for Nonlinear Systems Using Passivity-Based Robust Right Coprime Factorization

Cited in

(2)

• Impedance model-based optimal regulation on force and position of bimanual robots to hold an object
• Reduced Order Model and Decoupled Control Architecture for Two Manipulators Holding a Rigid Object

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