Robotic dual-arm twisting is a common but very challenging task in both industrial production and daily services, as it often requires dexterous collaboration, a large scale of end-effector rotating, and good adaptivity for object manipulation. Meanwhile, safety and efficiency are preliminary concerns for robotic dual-arm coordinated manipulation. Thus, the normally adopted fully automated task execution approaches based on environmental perception and motion planning techniques are still inadequate and problematic for the arduous twisting tasks. To this end, this paper presents a novel strategy of the dual-arm coordinated control for twisting manipulation based on the combination of optimized motion planning for one arm and real-time telecontrol with human intelligence for the other. The analysis and simulation results showed it can achieve collision and singularity free for dual arms with enhanced dexterity, safety, and efficiency.
翻译:机械双臂旋转是工业生产和日常服务中共同但非常具有挑战性的任务,因为这往往需要灵活的协作、大规模终端效应旋转和物体操纵的良好适应性;与此同时,安全和效率是机器人双臂协调操作的初步关切;因此,通常采用的基于环境观念和动作规划技术的完全自动化任务执行方法仍然不足,对于艰巨的扭动任务来说也存在问题;为此,本文件提出了双重武器协调控制扭曲操纵的新战略,其基础是将最佳的手臂和实时遥控规划与人的智能相结合。 分析和模拟结果表明,它能够实现碰撞,使双臂无独角,且具有更大的伸缩性、安全性和效率。