Title :
Fast position and posture control of an anthropomorphous 7 DOF dual-arm mobile robot
Author :
Ching-Chih Tsai ; Po-Ren Deng ; Chun-Chieh Chan ; Chun-An Lin
Author_Institution :
Dept. of Electr. Eng., Nat. Chung Hsing Univ., Taichung, Taiwan
Abstract :
This paper presents a fast pose position and posture control method for an anthropomorphous seven degrees-of-freedom (DOF) dual-arm mobile robot. The method is aimed to control the dual arm from their initial position and posture to a destination position and posture, and it consists of two phases: coarse and refined. In the coarse phase, an analytical inverse kinematic method together with a trajectory planner and PIV joint controllers is proposed to bring the dual arms to a neighborhood of the destination position and posture, and, in the refined phase, a Jacobian inverse kinematic method along with a P controller and PI speed joint controllers is used to achieve position and posture control with an acceptable accuracy. The effectiveness and merit of the proposed control method are well exemplified by conducting two simulations.
Keywords :
Jacobian matrices; PI control; angular velocity control; manipulator kinematics; mobile robots; path planning; trajectory control; Jacobian inverse kinematic method; P controller; PI speed joint controllers; PIV joint controllers; analytical inverse kinematic method; anthropomorphous 7 DOF dual-arm mobile robot; anthropomorphous seven degrees-of-freedom dual-arm mobile robot; coarse phase; fast pose position control method; fast posture control method; position control; refined phase; trajectory planner; Jacobian matrices; Joints; Kinematics; Manipulators; Robot kinematics; Robot sensing systems; Analytic Inverse Kinematic; Jacobian inverse kinematics; dual arms; position and posture control; service robot; visual servoing;
Conference_Titel :
Automatic Control Conference (CACS), 2013 CACS International
Conference_Location :
Nantou
Print_ISBN :
978-1-4799-2384-7
DOI :
10.1109/CACS.2013.6734137