Dual-arm robot teleoperation support with the virtual world
Sign Up to like & getrecommendations! Published in 2020 at "Artificial Life and Robotics"
DOI: 10.1007/s10015-020-00587-6
Abstract: This paper describes the construction of an operator support system for teleoperation of dual-arm robots in the real world and the virtual world. The robot simulator Choreonoid was implemented to create a virtual space. We… read more here.
Keywords: virtual world; teleoperation; robot; dual arm ... See more keywords
Virtual-base modeling and coordinated control of a dual-arm space robot for target capturing and manipulation
Sign Up to like & getrecommendations! Published in 2018 at "Multibody System Dynamics"
DOI: 10.1007/s11044-018-09647-z
Abstract: A dual-arm space robotic system has large potential in on-orbit servicing missions, such as satellite repairing, large space structure construction and space debris removal. However, there exist multiple dynamic couplings between the base, the manipulators… read more here.
Keywords: space; control; base; dual arm ... See more keywords
Dual-arm robot motion planning for collision avoidance using B-spline curve
Sign Up to like & getrecommendations! Published in 2017 at "International Journal of Precision Engineering and Manufacturing"
DOI: 10.1007/s12541-017-0099-z
Abstract: This paper proposes an algorithm for trajectory planning of dual-arm robot. Since the original collision-free path obtained in a probabilistic way is unnecessarily jerky, it may induce a high acceleration to robot’s actuator so we… read more here.
Keywords: arm robot; collision; robot; motion planning ... See more keywords
Adaptive neural network second-order sliding mode control of dual arm robots
Sign Up to like & getrecommendations! Published in 2017 at "International Journal of Control, Automation and Systems"
DOI: 10.1007/s12555-017-0026-1
Abstract: An adaptive robust control system is considered for dual-arm manipulators (DAM) using the combination of second-order sliding mode control (SOSMC) and neural networks. The SOSMC deals with the system robustness when faced with external disturbances… read more here.
Keywords: sliding mode; order sliding; second order; control ... See more keywords
Robust coordinated control of a dual-arm space robot
Sign Up to like & getrecommendations! Published in 2017 at "Acta Astronautica"
DOI: 10.1016/j.actaastro.2017.06.009
Abstract: Abstract Dual-arm space robots are more capable of implementing complex space tasks compared with single arm space robots. However, the dynamic coupling between the arms and the base will have a serious impact on the… read more here.
Keywords: system; space; space robot; dual arm ... See more keywords
Multi-objective configuration optimization for coordinated capture of dual-arm space robot
Sign Up to like & getrecommendations! Published in 2020 at "Acta Astronautica"
DOI: 10.1016/j.actaastro.2019.11.002
Abstract: Abstract Dual-arm space robot is a promising autonomous system to remove the increasing space debris actively. Due to its limited on-orbit energy, dual-arm space robot should approach and capture the target with minimum time and… read more here.
Keywords: space; space robot; optimization; dual arm ... See more keywords
Coordinated control of a dual-arm space robot to approach and synchronise with the motion of a spinning target in 3D space
Sign Up to like & getrecommendations! Published in 2020 at "Acta Astronautica"
DOI: 10.1016/j.actaastro.2020.02.028
Abstract: Abstract The non-cooperative objects in space such as space debris and spinning defunct satellites have attracted significant attention because of the rapid development of space exploration. To approach and capture the spinning targets in 3D… read more here.
Keywords: space robot; arm space; space; dual arm ... See more keywords
The design of an additive manufactured dual arm manipulator system
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DOI: 10.1016/j.addma.2018.10.030
Abstract: Abstract Additive manufacturing (AM), commonly referred to as 3D printing, was originally used for rapid prototyping. However, research into new technologies has allowed AM to become applicable far beyond prototype fabrication. Oak Ridge National Laboratory… read more here.
Keywords: arm; manipulator system; dual arm; design ... See more keywords
Detumbling strategy based on friction control of dual-arm space robot for capturing tumbling target
Sign Up to like & getrecommendations! Published in 2020 at "Chinese Journal of Aeronautics"
DOI: 10.1016/j.cja.2019.04.019
Abstract: Abstract The rotational motion of a tumbling target brings great challenges to space robot on successfully capturing the tumbling target. Therefore, it is necessary to reduce the target’s rotation to a rate at which capture… read more here.
Keywords: control; dual arm; strategy; target ... See more keywords
Multi-Representation Multi-Heuristic A* Motion Planning for a Dual-Arm Underwater Vehicle Manipulation System
Sign Up to like & getrecommendations! Published in 2019 at "IFAC-PapersOnLine"
DOI: 10.1016/j.ifacol.2019.12.308
Abstract: Abstract Recently, Intervention-Autonomous Underwater Vehicles (I-AUVs), started to grab researchers attention. While prior systems rely on variations of the task-priority redundancy control framework, our recent research demonstrated experimental results using search-based motion planning for a… read more here.
Keywords: system; motion planning; dual arm; arm ... See more keywords
Human to humanoid motion conversion for dual-arm manipulation tasks
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DOI: 10.1017/s0263574718000309
Abstract: SUMMARY A conversion process for the imitation of human dual-arm motion by a humanoid robot is presented. The conversion process consists of an imitation algorithm and an algorithm for generating human-like motion of the humanoid.… read more here.
Keywords: motion; imitation; conversion; dual arm ... See more keywords