Abstract
Cooperative manipulation in dual-arm robotic systems is a fundamental capability to perform many problems such as human-like tasks. In this article, we present an approach to solve dual-arm cooperative manipulation tasks using the differential evolution algorithm. In this work, manipulator kinematics are represented using the Denavit–Hartenberg model. The proposed method is able to avoid singularities because it does not require the inversion of any Jacobian matrix. In addition, the proposed approach handles joint limit constraints based on penalty functions. As a final remark, this approach is suitable for robotic systems of redundant or non-redundant serial manipulators composed of revolute or prismatic joints. Simulation experiments illustrate the effectiveness of the proposed approach under different dual-arm configurations. Furthermore, real experiments were performed using a dual-arm KUKA Youbot system to show the applicability of the proposed approach.
Highlights
Dual-arm systems can perform different tasks such as handling large and heavy objects and perform complex cooperative tasks.[1]
We introduced an approach for solving the coordinate dual-arm cooperative manipulation tasks based on differential evolution (DE)
The simulation included a comparison among some selected metaheuristic algorithms such as DE, DEMPSO, hybrid biogeography-based optimization (HBBO), imperialist competitive algorithm (ICA), and ITLBO
Summary
Dual-arm systems can perform different tasks such as handling large and heavy objects and perform complex cooperative tasks.[1] These manipulators are used to solve human-like tasks in both domestic and industrial environments.[2] The term dual-arm manipulation can be defined as a physical interaction with an object, exerting forces on it to move or reshape it using two robot manipulators.[2] there is no specific agreed definition for this term. Dual-arm systems can be classified into noncoordinated manipulation and coordinated manipulation. In non-coordinated manipulation, arms performed different tasks independently, their analysis does not need to differ from single-arm systems. In coordinated manipulation, arms are physically interacting with each other, for this reason, their relative motions have to be adequately controlled to perform a task. We proposed to solve the dual-arm cooperative manipulation for coordinate manipulation tasks
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