Kinematic Analysis of Lower Mobility Cooperative Arms by Screw Theory

Philip Long, Wisama Khalil, Stéphane Caro

2012

Abstract

This paper studies the kinematic modeling and analysis of a system with two cooperative manipulators, working together on a common task. The task is defined as the transportation of an object in space. The cooperative system is the dual armed humanoid Nao robot, where the serial architecture of each arm has five degrees of freedom. The mobility of the closed loop system is analyzed and the nature of the possible motion explored. The serial singular configurations of the system are considered. Furthermore the parallel singularities of the closed loop system associated with each actuation scheme are analyzed.

References

  1. Amine, S., Caro, S., Wenger, P., and Kanaan, D. (2011). Singularity analysis of the H4 robot using Grassmann-Cayley algebra. Robotica, 1(1):1-10.
  2. Amine, S., Tale Masouleh, M., Caro, S., Wenger, P., and Gosselin, C. (2012). Singularity analysis of 3T2R parallel mechanisms using Grassmann-Cayley algebra and Grassmann geometry. Mechanism and Machine Theory.
  3. Ball, S. R. (1900). A Treatise on the Theory of Screws. Cambridge Univ Pr.
  4. Bicchi, A., Melchiorri, C., and Balluchi, D. (1995). On the mobility and manipulability of general multiple limb robots. Robotics and Automation, IEEE Transactions on, 11(2):215-228.
  5. Caccavale, F., Chiacchio, P., and Chiaverini, S. (2000). Task-space regulation of cooperative manipulators. Automatica, 36(6):879-887.
  6. Caccavale, F., Chiacchio, P., Marino, A., and Villani, L. (2008). Six-DOF impedance control of dual-arm cooperative manipulators. Mechatronics, IEEE/ASME Transactions on, 13(5):576-586.
  7. Cheng, H., Yiu, Y.-k., Member, S., and Li, Z. (2003). Dynamics and control of redundantly actuated parallel manipulators. IEEE/ASME Transactions on Mechatronics, 8(4):483-491.
  8. Chiacchio, P., Chiaverini, S., and Siciliano, B. (1996). Direct and inverse kinematics for coordinated motion tasks of a two-manipulator system. Journal of Dynamic Systems, Measurement, and Control, 118:691.
  9. Gogu, G. (2007). Structural Synthesis of Parallel Robots: Part 1: Methodology. Springer Verlag.
  10. Hunt, K. (1978). Kinematic geometry of mechanisms. Cambridge Univ Press.
  11. Khalil, W. and Kleinfinger, J. (1986). A new geometric notation for open and closed-loop robots. In Robotics and Automation. Proceedings. 1986 IEEE International Conference on, volume 3, pages 1174-1179. IEEE.
  12. Liu, Y., Xu, Y., and Bergerman, M. (1999). Cooperation control of multiple manipulators with passive joints. IEEE Transactions on Robotics and Automation, 15(2):258-267.
  13. Ozkan, B. and Ozgören, M. (2001). Invalid joint arrangements and actuator related singular configurations of a system of two cooperating scara manipulators. Mechatronics, 11(4):491-507.
  14. Sadati, N. and Ghaffarkhah, A. (2008). Decentralized impedance control of nonredundant multimanipulator systems. In Networking, Sensing and Control, 2008. ICNSC 2008. IEEE International Conference on, pages 206-211.
  15. Uchiyama, M. and Dauchez, P. (1988). A symmetric hybrid position/force control scheme for the coordination of two robots. In 1988 IEEE International Conference on Robotics and Automation, Philadelphia, PA, pages 350-356.
  16. Yeo, H.-J., Suh, I. H., Yi, B.-J., and Oh, S.-R. (1999). A single closed-loop kinematic chain approach for a hybrid control of two cooperating arms with a passive joint: an application to sawing task. IEEE Transactions on Robotics and Automation, 15(1):141-151.
  17. Zielinski, C. and Szynkiewicz, W. (1996). Control of two 5 dof robots manipulating a rigid object. In Industrial Electronics, 1996. ISIE'96., Proceedings of the IEEE International Symposium on, volume 2, pages 979- 984. IEEE.
  18. Zlatanov, D., Bonev, I., and Gosselin, C. (2002). Constraint singularities of parallel mechanisms. In Robotics and Automation, 2002. Proceedings. ICRA'02. IEEE International Conference on, volume 1, pages 496-502. IEEE.
Download


Paper Citation


in Harvard Style

Long P., Khalil W. and Caro S. (2012). Kinematic Analysis of Lower Mobility Cooperative Arms by Screw Theory . In Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8565-22-8, pages 280-285. DOI: 10.5220/0004039202800285


in Bibtex Style

@conference{icinco12,
author={Philip Long and Wisama Khalil and Stéphane Caro},
title={Kinematic Analysis of Lower Mobility Cooperative Arms by Screw Theory},
booktitle={Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2012},
pages={280-285},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004039202800285},
isbn={978-989-8565-22-8},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Kinematic Analysis of Lower Mobility Cooperative Arms by Screw Theory
SN - 978-989-8565-22-8
AU - Long P.
AU - Khalil W.
AU - Caro S.
PY - 2012
SP - 280
EP - 285
DO - 10.5220/0004039202800285