Abstract
A recursive dynamic modeling and control is presented for the dual-arm manipulator with elastic joints carrying a common object. For decoupling the effect of elastic joints, the dynamic modeling approach is based on the classic recursive Newton-Euler method but involves high-order derivatives of motion and force variables. The high-order inverse kinematics which is needed in the motion control is presented firstly. With the classic Recursive Newton-Euler (RNEA) method, two-order dynamic model of the dual-arm robot is established, for decoupling the effect of the elastic joints, the form of four-order dynamic model is presented, meanwhile, combining with the high-order dynamic model of the carried object, the completed Dual-Arm Elastic Joints Newton-Euler Algorithm (DA-EJNEA) is established. Then the feedback linearization method is adopted to the motion control based on the DA-EJNEA. Finally, to verify the effectiveness of the proposed method, feedback linearization method based on the DA-EJNEA and the computed torque method based on the dynamic model with rigid joints are used to control the dual-arm coordinated system respectively, the simulation results illustrate the feedback linearization method based on the DA-EJNEA has an obvious advantage for trajectory tracking of the object in the operation space, it behaves reasonable potentials for the model-based control.
Highlights
There is an increasing trend of using dual-arm robots to do some complicated applications that are beyond the capability of a single manipulator, for example, dual-arm robots are often applied to manipulate massive and bulky objects
Dynamic modeling of the dual-arm manipulator is the foundation of the model-based control, efficient and accurate dynamic models are essential for task execution
The Udwadia-Kalaba equation presents a new idea of dynamic modeling of dualarm coordinated systems, but the dynamic modeling of the unconstrained systems still depends on the Lagrangian equation which makes the model quite tedious [5]
Summary
There is an increasing trend of using dual-arm robots to do some complicated applications that are beyond the capability of a single manipulator, for example, dual-arm robots are often applied to manipulate massive and bulky objects. It is necessary to take the joint elasticity into account when models a manipulator, especially when the robot must make fast and precise movement or carry large loads This needs to pay more attention when models a coordinated dual-arm system because the closed chain may be damaged. Some researchers addressed non-linear dynamics of robots with multiple elastic joints, they established dynamic model of each elastic manipulator with the Lagrangian method, modeled the carried object by the Newton-Euler method, the completed dynamic model of multi-arm coordinated system was obtained by eliminating the same force variables in the dynamic equations [12,13,14,15,16,17,18,19]. H ek is the height of endeffector of Arm-k, wk represents the distance from the origin of B to the origin of 1k , let generalized coordination qk N be the joint position vector in the link side, θk N be the joint position vector in the motor side
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