Coordination control of dual-arm modular robot based on position feedback using Optotrak3020

作者：Zhou, Jun^*; Yu, Yueqing

来源：Industrial Robot-The International Journal of Robotics Research and Application, 2011, 38(2): 172-185.

DOI：10.1108/01439911111106381

• Control technology
• Robots
• Motion
• Measurement

Purpose - The purpose of this paper is to present a novel and accurate coordination control method of dual-arm modular robot based on position feedback using 3D motion measurement system - Optotrak3020. The end-position accuracy of dual-arm modular robot can be improved obviously.
Design/methodology/approach - By means of Optotrak3020, the actual end-position of dual-arm modular robot is acquired and then returned to the robotic controllers, so the corresponding position error compensation is implemented. Through a 3D simulation and experiment of dual-arm modular robot for tracking a trajectory of plane right triangle, the feasibility and validity of this control strategy are verified.
Findings - The coordination control of dual-arm modular robot based on position feedback can be accomplished by means of Optotrak3020. The dual-arm modular robot can accurately accomplish the task of positioning or tracking a reference trajectory.
Practical implications - This real-time position feedback control method with high control accuracy can be implemented on a Power Cube dual-arm modular robot system. This method also can be applied to other dual-arm robot systems, such as mobile robot with dual-arm, humanoid robot.
Originality/value - The coordination control method of dual-arm modular robot is presented based on end-position feedback using Optotrak3020 motion measurement system. The platforms of simulation, communication and experiment are developed, respectively.

• 出版日期2011
• 单位北京工业大学