| Title |
Control Methodology of Multiple Arms for IMS : Experimental Sawing Task by Nonidentical Cooperating Arms |
| Authors |
여희주(Yeo, Hee-Joo) ; 서일홍(Suh, Il-Hong) ; 이병주(Lee, Byung-Ju) ; 오상록(Oh, Sang-Rok) |
| Keywords |
Dual Arms ; Sawing Task ; Hybrid Control |
| Abstract |
Sawing experiments using a two-arm system have been performed in this work. The two-arm system under consideration of two kinematically-nonidentical arms. A passive joint is inserted at the end-point of one robot in order to increase the mobility up to the motion degree required for sawing tasks. A hybrid control algorithm for control of the two-arm system is designed. We experimentally show that the performance of the velocity and force response are satisfactory, and that one additional passive joint not only prevents the system from unwanted yaw motion in the sawing task, but also allows an unwanted pitch motion to be notably reduced by an internal load control. To show the general applicability of the proposed algorithms, we perform experimentation under several different conditions for saw, such as three saw blades, two sawing speeds, and two vertical forces. |