2013•The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)Open access
1A2-Q04 Cooperative Impedance Control using Dual-arm Manipulator with Hands(Robots for Works (1))
Kentaro Kasuya, Kota NAKAMIZO, Guangwei Wang, Zunzun HU, Kenzo NONAMI
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Abstract
The purpose of the our research group study is to develop an autonomous dual-arm robot for the complex work which involve autonomous cooperation of two arms. The objective of this work is to realize the work to draw the characters with a pen that one hand grips on the clipboard that another hand grasps. We implemented impedance control in each arm of dual-arm robot. And the method of cooperative control between right and left arm is showed. As the results of experiment that dual-arm robot draws a line, the control suggested in this study is proved not to be effective.
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