Collaborative Assembly Operation between Two Modular Robots Based on the Optical Position Feedback | Zendy

Liying Su | Zendy; Lei Shi | Zendy; Yueqing Yu | Zendy

AI Assistant Blog Pricing

Home ZAIA Blog

Open Access

Collaborative Assembly Operation between Two Modular Robots Based on the Optical Position Feedback

Author(s) -

Liying Su,

Lei Shi,

Yueqing Yu

Publication year - 2009

Publication title -

journal of robotics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.303

H-Index - 14

eISSN - 1687-9619

pISSN - 1687-9600

DOI - 10.1155/2009/214154

Subject(s) - robot , computer science , modular design , controller (irrigation) , self reconfiguring modular robot , position (finance) , acceleration , kinematics , set (abstract data type) , simulation , control theory (sociology) , computer vision , artificial intelligence , robot control , control (management) , mobile robot , physics , finance , classical mechanics , agronomy , economics , biology , operating system , programming language

This paper studies the cooperation between two master-slave modular robots. A cooperative robot system is set up with two modular robots and a dynamic optical meter-Optotrak. With Optotrak, the positions of the end effectors are measured as the optical position feedback, which is used to adjust the robots' end positions. A tri-layered motion controller is designed for the two cooperative robots. The RMRC control method is adopted to adjust the master robot to the desired position. With the kinematics constraints of the two robots including position and pose, joint velocity, and acceleration constraints, the two robots can cooperate well. A bolt and nut assembly experiment is executed to verify the methods

The content you want is available to Zendy users.

Already have an account? Click here to sign in.

Having issues? You can contact us here

Accelerating Research