双臂机器人运动控制系统与碰撞检测

2018 International Automatic Control Conference (CACS) Pub Date : 2018-11-01 DOI:10.1109/CACS.2018.8606752

Ching-Chang Wong, Y. Lai, Jianliang Lyu, Chi-An Jiang

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引用次数: 1

摘要

本文实现了一种具有两个7自由度冗余机械手的双臂机器人及其运动控制系统，并提出了一种碰撞检测方法来提高双臂机器人运动控制的安全性。实验结果表明，该方法能使双臂机器人正确、安全地运动。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Motion Control System and Collision Detection for Dual-Arm Robot

In this paper, a dual-arm robot with two 7-DOF redundant robot manipulators and its motion control system are implemented, and a collision detection method is proposed to improve the safety of motion control of the dual-arm robot. Some results are presented to illustrate the proposed method makes the dual-arm robot move correctly and safely.

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2018 International Automatic Control Conference (CACS)

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