Elbow position control of the redundant industrial dual-arm robot

摘要

The industrial dual-arm robot is being developed. The developed industrial dual-arm robot aim to work with human workers or to work instead of human workers. Redundancy by high degree of freedom caused by arm and waist make robot movement difficult in the narrow space for human workers. Robot arms would take unexpected posture without proper redundant control method. In particular elbows can cause hazard situation by colliding with the environment or body of robot. Here novel method to control robot elbows is introduced. It shows good performance without loss of the position precision of end-effectors. Also it does not require high computing power, which make it useful for practical robot control. The proposed method is confirmed by the simulation.