Dual-arm robot control for human-robot collaborative manipulation

Authors
Kruse, Daniel
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Other Contributors
Wen, John T.
Radke, Richard J., 1974-
Wen, John T.
Sanderson, A. C. (Arthur C.)
Patterson, Stacy
Walczyk, Daniel F.
Issue Date
2016-12
Keywords
Electrical engineering
Degree
PhD
Terms of Use
This electronic version is a licensed copy owned by Rensselaer Polytechnic Institute, Troy, NY. Copyright of original work retained by author.
Full Citation
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
Department
Dept. of Electrical, Computer, and Systems Engineering
Publisher
Rensselaer Polytechnic Institute, Troy, NY
Relationships
Rensselaer Theses and Dissertations Online Collection
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