[go: up one dir, main page]
More Web Proxy on the site http://driver.im/ Skip to main content
Springer Nature Link
Log in

A Vision-Based Coordinated Motion Scheme for Dual-Arm Robots

  • Published:
Journal of Intelligent & Robotic Systems Aims and scope Submit manuscript

Abstract

With the rise of service robots, research on cooperation between two-arm robots has become increasingly important. In this paper, two NAO two-armed robots are used as the experimental platform and are combined with projective geometry, vision, robotics and other knowledge to carry out theoretical derivation and experiments on the coordinated movements of dual-arm robots. From the aspect of visual information processing, we analyse and solve the detailed target recognition process. Then, on this basis, we propose a set of complete coordinated motion control schemes. For object recognition, in this paper, we propose a highly adaptable linear stick recognition method. To solve the control flow of coordinated movement, we calculate the inverse kinematics of the unreachable pose of a single NAO manipulator by ignoring the degree of freedom of rotation around an end axis, and propose a trajectory planning method for the vertical constraint relationship between the tool and the workpiece plane in the coordinated manipulator movement. A comparison of the results of a simulation and a real experiment reveals that the trajectories of a workpiece clamped at the ends of the two robots’ mechanical arms are roughly the same; consequently, the coordinated control scheme proposed in this paper is feasible. Moreover, the scheme proposed in this paper is sufficiently accurate to meet service robot applications in daily life. Because the joint active clearance of the NAO robot arm is large and its sensor sensitivity is high, clearance change can be used in the future to replace the force sensor for hybrid control.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Subscribe and save

Springer+ Basic
£29.99 /Month
  • Get 10 units per month
  • Download Article/Chapter or eBook
  • 1 Unit = 1 Article or 1 Chapter
  • Cancel anytime
Subscribe now

Buy Now

Price includes VAT (United Kingdom)

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

Explore related subjects

Discover the latest articles, news and stories from top researchers in related subjects.

References

  1. Siciliano, B., Khatib, O.: Springer Handbook of Robotics. Springer (2016)

  2. Siradjuddin, I., Behera, L., McGinnity, T.M., Coleman, S.: A position based visual tracking system for a 7 DOF robot manipulator using a kinect camera. In: The 2012 International Joint Conference on Neural Networks (IJCNN), pp. 1–7 (2012)

  3. Liegeois, A.: Automatic supervisory control of the configuration and behaviour of multibody mechanisms. IEEE Trans. Syst. Man Cybern. 7(12), 868–871 (1977)

    Article  Google Scholar 

  4. Wang, J.G., Li, Y., Zhao, X.: Inverse kinematics and control of a 7-DOF redundant manipulator. Int. J. Adv. Rob. Syst. 7(4), 1–9 (2010)

    Google Scholar 

  5. Kim, J., Sin, M., Lee, J., Kim, D.-H., Lim, H.-K., Kim, S.-R.: Kinematics analysis and motion planning for a 7-DOF redundant industrial robot manipulator. In: 2011 11th International conference on control, automation and systems, pp. 522–527. IEEE (2011)

  6. Crenganis, M., Breaz, R., Racz, G., Bologa, O.: Inverse kinematics of a 7 DOF manipulator using adaptive neuro-fuzzy inference systems. In: 2012 12th International Conference on Control Automation Robotics & Vision (ICARCV), pp. 1232–1237. IEEE (2012)

  7. Mason, M.T.: Compliance and force control for computer controlled manipulators. IEEE Trans. Syst. Man. Cybern. 11(6), 418–432 (1981)

    Article  Google Scholar 

  8. Zheng, Y.F., Luh, J.Y.S.: Control of two coordinated robots in motion. In: 1985 24th IEEE Conference on Decision and Control, pp. 1761–1766. IEEE (1985)

  9. Nakano, E.: Cooperational control of the anthropomorphous manipulator” melarm”. In: Proc. of 4th International Symposium on Industrial Robots, pp. 251–260 (1974)

  10. Uchiyama, M., Dauchez, P.: A symmetric hybrid position/force control scheme for the coordination of two robots. In: 1988 IEEE International Conference on Robotics and Automation, 1988. Proceedings, pp. 350–356. IEEE (1988)

  11. Kruse, D., Wen, J.T., Radke, R.J.: A sensor-based dual-arm tele-robotic system. IEEE Trans. Autom. Sci. Eng. 12(1), 4–18 (2015)

    Article  Google Scholar 

  12. Caccavale, F., Chiacchio, P., Marino, A., Villani, L.: Six-DOF impedance control of dual-arm cooperative manipulators. IEEE/ASME Trans. Mechatron. 13(5), 576–586 (2008)

    Article  Google Scholar 

  13. Shamsuddin, S., Ismail, L.I., Yussof, H., Zahari, N.I., Bahari, S., Hashim, H., Jaffar, A.: Humanoid robot NAO: Review of control and motion exploration. In: 2011 IEEE International Conference on Control System, Computing and Engineering (ICCSCE), pp. 511–516. IEEE (2011)

  14. Shamsuddin, S., Yussof, H., Ismail, L., Hanapiah, F.A., Mohamed, S., Piah, H.A., Zahari, N.I.: Initial response of autistic children in human-robot interaction therapy with humanoid robot NAO. In: 2012 IEEE 8th International Colloquium on Signal Processing and its Applications (CSPA), pp. 188–193. IEEE (2012)

  15. Wu, F.C.: Mathematical Methods in Computer Vision. Science Press (2008)

  16. Lam, L., Lee, S.-W., Suen, C.Y.: Thinning methodologies-a comprehensive survey. IEEE Trans. Pattern Anal. Mach. Intell. 14(9), 869–885 (1992)

    Article  Google Scholar 

  17. Zhang, T.Y., Suen, C.Y.: A fast parallel algorithm for thinning digital patterns. Commun. ACM 27(3), 236–239 (1984)

    Article  Google Scholar 

  18. He, L., Chao, Y., Suzuki, K.: A run-based two-scan labeling algorithm. IEEE Trans. Image. Process. 17(5), 749–756 (2008)

    Article  MathSciNet  Google Scholar 

  19. Kofinas, N., Orfanoudakis, E., Lagoudakis, M.G.: Complete analytical forward and inverse kinematics for the Nao humanoid robot. J. Intell. Robot. Syst. 77(2), 251–264 (2015)

    Article  Google Scholar 

  20. Mayer, G.E., Paul, R.P., Shimano, B.: Differential kinematic control equations for simple manipulators. IEEE Trans. Syst. Man Cybern., 1(1) (1981)

Download references

Acknowledgements

This work was supported by the National Natural Science Foundation of China (No.51105213), The Key Research and Development Program of Shandong Province (2017GGX10133, 2018GNC112007), Basic Research Project of Science and Technology Program of Qingdao City (No. 13-1-4-208-jch) and Natural Science Foundation of Shandong Province (No.ZR2015EM035).

Author information

Authors and Affiliations

  1. College of Electromechanical Engineering, Qingdao University of Science and Technology, Qingdao, China

    Xianlun Wang & Longfei Chen

Authors
  1. Xianlun Wang
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Longfei Chen
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Longfei Chen.

Additional information

Publisher’s Note

Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Wang, X., Chen, L. A Vision-Based Coordinated Motion Scheme for Dual-Arm Robots. J Intell Robot Syst 97, 67–79 (2020). https://doi.org/10.1007/s10846-019-01035-9

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s10846-019-01035-9

Keywords

Search

Navigation