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Hybrid Position, Posture and Force Control of a Two-Armed Robot with Force Sensing and 3D Perception
six-axial force sensors
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This thesis presents a hybrid position, posture and force control method for an anthropomorphous dual-arm robot with seven degrees-of-freedom arms, two six-axial force sensors, Kinect sensor and one three-dimensional ToF (time-of-flight) camera. The two six-axial force sensors are installed at the wrists and used to measure the forces while the robot are contacting with objects. The Kinect sensor and the three-dimensional ToF camera are employed together to recognize category and position of any object to be grasped. An analytical inverse kinematic method together with a trajectory planner and PIV joint controllers is proposed to bring the dual arms to the neighborhood of the destination position and posture, and then a Jacobian inverse kinematic method along with a P controller and PI speed joint controllers is used to quickly achieve simultaneous position and posture control with an acceptable accuracy. A PID-based control architecture with a switching matrix is proposed to achieve hybrid position, posture and force control. The effectiveness and merit of the proposed control method are well exemplified by conducting several simulations on the anthropomorphous dual-arm robot.
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