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Kinematic and dynamic analysis of lower-mobility cooperative arms

Published online by Cambridge University Press:  01 May 2014

Philip Long ,
Wisama Khalil  and
Stéphane Caro
Philip Long
Affiliation:
LUNAM, Ecole Centrale de Nantes, 1 rue de la Noë, 44321 Nantes, France IRCCyN, UMR CNRS n° 6597, 1 rue de la Noë, 44321 Nantes, France
Wisama Khalil
Affiliation:
LUNAM, Ecole Centrale de Nantes, 1 rue de la Noë, 44321 Nantes, France IRCCyN, UMR CNRS n° 6597, 1 rue de la Noë, 44321 Nantes, France
Stéphane Caro*
Affiliation:
IRCCyN, UMR CNRS n° 6597, 1 rue de la Noë, 44321 Nantes, France
*
*Corresponding author. E-mail: stephane.caro@irccyn.ec-nantes.fr
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Summary

This paper studies the modeling and analysis of a system with two cooperative manipulators working together on a common task. The task is defined as the transportation of an object in space. The cooperative system is the dual-arm of the humanoid robot Nao, where the serial architecture of each arm has 5 degrees of freedom. The kinematics representing the closed chain system is studied. The mobility of the closed-loop system is analyzed and the nature of the possible motions explored. The stiffness of some motors can be reduced until they behave as passive joints. Certain joints are then chosen as actuated (independent) and the others as passive (dependent). The serial and parallel singular configurations of the system are considered. From the kinematic analysis, admissible and inadmissible minimum actuation schemes are analyzed. Furthermore the dynamic performance of the schemes is compared to find the optimum minimum actuation scheme.

Keywords

Parallel manipulatorsHumanoid robotsKinematic analysisDynamic analysisCooperative arms
Type
Articles
Information
Robotica , Volume 33 , Issue 9 , November 2015 , pp. 1813 - 1834
Copyright
Copyright © Cambridge University Press 2014 

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