MATEC Web Conf.
Volume 256, 2019The 5th International Conference on Mechatronics and Mechanical Engineering (ICMME 2018)
|Number of page(s)||6|
|Section||Mechanical and Control Engineering|
|Published online||23 January 2019|
Design and Implementation of Admittance Control for a Dual-Arm Robot under Space Limitation
Quanzhou Institute of Equipment Manufacturing, Chinese Academy of Sciences, Quanzhou, Fujian, China
Aimed at the situation lack of suitable industrial robots with speed requirement and space limitation, a novel simple structured and high speed dual-arm robot is designed. The robot control system has been achieved by using high speed controller, real-time bus EtherCAT and integrating the sensor system via Ethernet interface. Kinematic and dynamic analysis are the basis of its kinematic control and trajectory planning. This paper presents a force-free control method for direct teaching of the robot and adopts a Cartesian admittance control algorithm to realize human-machine interaction. The admittance control is conducted by utilizing six-dimensional force/torque sensor fixed to the end-effector of manipulator. To evaluate the performance of the proposed controller and control algorithm, a point-to-point teaching task is conducted.
© The Authors, published by EDP Sciences, 2019
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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