Research on Motion Trajectory Planning and Impedance Control for Dual-Arm Collaborative Robot Grinding Tasks
In robot grinding tasks, dual manipulators possess improved flexibility, which can cooperate to complete different tasks with higher efficiency and satisfactory effect. In collaborative robot grinding tasks, the critical issues lie in the motion trajectory planning of the two manipulators and trajec...
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| Format: | Article |
| Language: | English |
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MDPI AG
2025-01-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/15/2/819 |
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| author | Lu Qian Lei Hao Shuhao Cui Xianglin Gao Xingwei Zhao Yifan Li |
| author_facet | Lu Qian Lei Hao Shuhao Cui Xianglin Gao Xingwei Zhao Yifan Li |
| author_sort | Lu Qian |
| collection | DOAJ |
| description | In robot grinding tasks, dual manipulators possess improved flexibility, which can cooperate to complete different tasks with higher efficiency and satisfactory effect. In collaborative robot grinding tasks, the critical issues lie in the motion trajectory planning of the two manipulators and trajectory tracking with satisfactory accuracy under the condition that the two manipulator ends apply force on each other. In order to accomplish the goals in a more concise and feasible way, a complete scheme for dual-arm robot grinding tasks is essential. To address this issue, taking the motion trajectory planning and impedance control into consideration, a novel scheme for dual manipulators to complete collaborative grinding tasks is presented in this paper. To this end, a dual-arm grinding system is first constructed, and the kinematic constraints in the cooperative motion are analyzed, based on which the motion trajectories of the dual manipulators are planned according to the grinding task objectives. Then, an impedance controller is designed to achieve accurate tracking of the motion trajectory in the grinding process. Finally, dual-arm collaborative simulations and grinding experiments are carried out, and the results show that the proposed method can achieve good motion results and better flexibility compared to the single-arm motion, which demonstrates the effectiveness of the proposed method. |
| format | Article |
| id | doaj-art-920c3d7fd05d440ea97d3d35eb8d97fd |
| institution | Kabale University |
| issn | 2076-3417 |
| language | English |
| publishDate | 2025-01-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj-art-920c3d7fd05d440ea97d3d35eb8d97fd2025-01-24T13:20:57ZengMDPI AGApplied Sciences2076-34172025-01-0115281910.3390/app15020819Research on Motion Trajectory Planning and Impedance Control for Dual-Arm Collaborative Robot Grinding TasksLu Qian0Lei Hao1Shuhao Cui2Xianglin Gao3Xingwei Zhao4Yifan Li5School of Transportation and Logistics Engineering, Wuhan University of Technology, Wuhan 430063, ChinaAVIC Research Institute for Special Structures of Aeronautical Composites, Jinan 250023, ChinaState Key Laboratory of Intelligent Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan 430074, ChinaAVIC Research Institute for Special Structures of Aeronautical Composites, Jinan 250023, ChinaState Key Laboratory of Intelligent Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan 430074, ChinaSchool of Transportation and Logistics Engineering, Wuhan University of Technology, Wuhan 430063, ChinaIn robot grinding tasks, dual manipulators possess improved flexibility, which can cooperate to complete different tasks with higher efficiency and satisfactory effect. In collaborative robot grinding tasks, the critical issues lie in the motion trajectory planning of the two manipulators and trajectory tracking with satisfactory accuracy under the condition that the two manipulator ends apply force on each other. In order to accomplish the goals in a more concise and feasible way, a complete scheme for dual-arm robot grinding tasks is essential. To address this issue, taking the motion trajectory planning and impedance control into consideration, a novel scheme for dual manipulators to complete collaborative grinding tasks is presented in this paper. To this end, a dual-arm grinding system is first constructed, and the kinematic constraints in the cooperative motion are analyzed, based on which the motion trajectories of the dual manipulators are planned according to the grinding task objectives. Then, an impedance controller is designed to achieve accurate tracking of the motion trajectory in the grinding process. Finally, dual-arm collaborative simulations and grinding experiments are carried out, and the results show that the proposed method can achieve good motion results and better flexibility compared to the single-arm motion, which demonstrates the effectiveness of the proposed method.https://www.mdpi.com/2076-3417/15/2/819robot grindingtrajectory planningdual-arm coordinationimpedance control |
| spellingShingle | Lu Qian Lei Hao Shuhao Cui Xianglin Gao Xingwei Zhao Yifan Li Research on Motion Trajectory Planning and Impedance Control for Dual-Arm Collaborative Robot Grinding Tasks Applied Sciences robot grinding trajectory planning dual-arm coordination impedance control |
| title | Research on Motion Trajectory Planning and Impedance Control for Dual-Arm Collaborative Robot Grinding Tasks |
| title_full | Research on Motion Trajectory Planning and Impedance Control for Dual-Arm Collaborative Robot Grinding Tasks |
| title_fullStr | Research on Motion Trajectory Planning and Impedance Control for Dual-Arm Collaborative Robot Grinding Tasks |
| title_full_unstemmed | Research on Motion Trajectory Planning and Impedance Control for Dual-Arm Collaborative Robot Grinding Tasks |
| title_short | Research on Motion Trajectory Planning and Impedance Control for Dual-Arm Collaborative Robot Grinding Tasks |
| title_sort | research on motion trajectory planning and impedance control for dual arm collaborative robot grinding tasks |
| topic | robot grinding trajectory planning dual-arm coordination impedance control |
| url | https://www.mdpi.com/2076-3417/15/2/819 |
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