Control of a Lower Mobility Dual Arm System

Experimental dual-mode control of a flexible robotic arm

PI-type Fuzzy Logic Control of a Dual Arm Robot

In this study, as an application of robotics in hazardous tasks, a dual arm cooperative robot system is considered. The robot system is consisting of two planar arms; each of them has two degrees of freedom. The robot arms are in a task which requires handling and transporting a load in horizontal plane from its initial position to desired location with reliability. Dynamic equations of the phy...

Grasp planning and parallel control of a redundant dual-arm/hand manipulation system

In this paper, a kinematic model of a dual-arm/hand robotic system is derived, which allows the computation of the object position and orientation from the joint variables of each arm and each finger as well as from a suitable set of contact variables. On the basis of this model, a motion planner is designed, where the kinematic redundancy of the system is exploited to satisfy some secondary ta...

A Multi Objective Control Approach to Online Dual Arm Manipulation

In this paper, we propose a new way to exploit the redundancy of dual arm mobile manipulators when performing inherently bi-manual tasks using online controllers. Bi-manual tasks are tasks that require motion of both arms in order to be carried out efficiently, such as holding and cleaning an object, or moving an object from one hand to the other. These tasks are often associated with several c...

a study on construction of iranian life tables: the case study of modified brass logit system

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