Optimal Control of Holding Motion by Nonprehensile Two-Cooperative-Arm Robot

Recently, more researchers have focused on nursing-care assistant robot and placed their hope on it to solve the shortage problem of the caregivers in hospital or nursing home. In this paper, a nonprehensile two-cooperative-arm robot is considered to realize holding motion to keep a two-rigid-link object (regarded as a care-receiver) stable on the robot arms. By applying Newton-Euler equations of motion, dynamic model of the object is obtained. In this model, for describing interaction behavior between object and robot arms in the normal direction, a viscoelastic model is employed to represent the normal forces. Considering existence of friction between object and robot arms, LuGre dynamic model is applied to describe the friction. Based on the obtained model, an optimal regulator is designed to control the holding motion of two-cooperative-arm robot. In order to verify the effectiveness of the proposed method, simulation results are shown.

[1]  Shigeyuki Hosoe,et al.  Model-based control for nonprehensile manipulation of a two-rigid-link object by two cooperative arms , 2010, 2010 IEEE International Conference on Robotics and Biomimetics.

[2]  Mingcong Deng,et al.  Operator-based Robust Nonlinear Tracking Control for A Human Multi-joint Arm-like Manipulator with Unknown Time-varying Delays , 2012 .

[3]  M.N. Ahmadabadi,et al.  Two Dimensional Dynamic Manipulation of a Disc Using Two Manipulators , 2006, 2006 International Conference on Mechatronics and Automation.

[4]  Tsukasa Ogasawara,et al.  1-DOF dynamic pitching robot that independently controls velocity, Angular velocity, and direction of a ball: Contact models and motion planning , 2009, 2009 IEEE International Conference on Robotics and Automation.

[5]  Minoru Sasaki,et al.  Motion Control of a Piezopolymer Bimorph Flexible Microactuator , 1995, J. Robotics Mechatronics.

[6]  Tadashi Odashima,et al.  Emergent cooperative manipulation of a multi-linked object , 2003, SICE 2003 Annual Conference (IEEE Cat. No.03TH8734).

[7]  Makoto Kaneko,et al.  Dynamic Manipulation Inspired by the Handling of a Pizza Peel , 2009, IEEE Transactions on Robotics.

[8]  Frank L. Lewis,et al.  Robot Manipulator Control: Theory and Practice , 2003 .

[9]  Chin-Su Kim,et al.  Robust visual servo control of robot manipulators with uncertain dynamics and camera parameters , 2010 .

[10]  Patrizio Tomei,et al.  Adaptive PD controller for robot manipulators , 1991, IEEE Trans. Robotics Autom..

[11]  Atin Gupta,et al.  A carrying task for nonprehensile mobile manipulators , 2003, Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453).

[12]  Carlos Canudas de Wit,et al.  A new model for control of systems with friction , 1995, IEEE Trans. Autom. Control..

[13]  Chiang-Ju Chien,et al.  Further results on adaptive iterative learning control of robot manipulators , 2008, Autom..

[14]  Yoshikazu Hayakawa,et al.  Fuzzy Nonprehensile Manipulation Control of a Two-Rigid-Link Object by Two Cooperative Arms , 2011 .

[15]  Peter Xiaoping Liu,et al.  Robust Sliding Mode Control for Robot Manipulators , 2011, IEEE Transactions on Industrial Electronics.

[16]  Yoshikazu Hayakawa,et al.  Optimal control of non-prehensile manipulation control by two cooperative arms , 2015, 2015 International Conference on Advanced Mechatronic Systems (ICAMechS).

[17]  Mingcong Deng,et al.  Robust Control for Nonlinear Systems Using Passivity-Based Robust Right Coprime Factorization , 2012, IEEE Transactions on Automatic Control.

[18]  Akira Inoue,et al.  OUTPUT TRACKING OF NONLINEAR FEEDBACK SYSTEMS WITH PERTURBATION BASED ON ROBUST RIGHT COPRIME FACTORIZATION , 2009 .