Analysis of the dynamic ability of two robot arms in object handling

摘要

To make full use of the increased capability of dual-arm operations, it is necessary to know whether a given object can be manipulated or not along a prespecified trajectory such that the requirement of the joint torques stays within their limits. Furthermore, when dual arms manipulate an object, internal force/moments are generated naturally and different gripping tasks can be performed by tracking given internal force/moment trajectories. In this paper, the feasibility of a given trajectory of the object is analysed by considering a control strategy of the dual-arm system, along with the capability of internal force/moment tracking. Simulation and graphical visualization studies have been carried out to demonstrate the feasibility of this analysis technique.