Dual-arm robot control for human-robot collaborative manipulation
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Authors
Kruse, Daniel
Issue Date
2016-12
Type
Electronic thesis
Thesis
Thesis
Language
ENG
Keywords
Electrical engineering
Alternative Title
Abstract
Industrial robot arms are currently restricted to single arm tasks like sheet metal bending or welding and must be kept in restricted, highly structured environments. In the last decade, companies have produced dual-armed robots, but are used as two uncoordinated single arms, due to the challenge of safely coordinating their motion to a single task. These robots are instructed by specialized teach pendants through high performance motor controllers to follow a prescribed path, which, while precise in its motions, is tedious to program and can not adapt to unexpected variation. Past research has demonstrated single arms can operate in unstructured laboratory environments with sensor-feedback control laws, which we demonstrate is also effective for coordinated dual-armed tasks. We present sensor-based outer loop control laws for bimanual manipulation of large and flexible objects impractical for a single arm. We demonstrate these control laws in general case studies on coordinated manipulation cooperating with a human collaborator.
Description
December 2016
School of Engineering
School of Engineering
Full Citation
Publisher
Rensselaer Polytechnic Institute, Troy, NY