collaborative assembly operation between two modular robots based on the optical position feedback两个模块化机器人之间协作装配操作基于光学位置反馈.pdfVIP

Hindawi Publishing Corporation Journal of Robotics Volume 2009, Article ID 214154, 8 pages doi:10.1155/2009/214154 Research Article Collaborative Assembly Operation between Two Modular Robots Based on the Optical Position Feedback Liying Su,1 Lei Shi,2 and Yueqing Yu1 1 College of Mechanical Engineering, Beijing University of Technology, Beijing 100022, China 2 Southwest University of Science and Technology, MianYang 621010, China Correspondence should be addressed to Liying Su, sly@ Received 12 May 2009; Revised 3 October 2009; Accepted 26 October 2009 Recommended by Simon X. Yang This paper studies the cooperation between two master-slave modular robots. A cooperative robot system is set up with two modular robots and a dynamic optical meter-Optotrak. With Optotrak, the positions of the end effectors are measured as the optical position feedback, which is used to adjust the robots’ end positions. A tri-layered motion controller is designed for the two cooperative robots. The RMRC control method is adopted to adjust the master robot to the desired position. With the kinematics constraints of the two robots including position and pose, joint velocity, and acceleration constraints, the two robots can cooperate well. A bolt and nut assembly experiment is executed to verify the methods. Copyright © 2009 Liying Su et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. 1. Introduction (2) The dynamics of the two coordinated arm robots is more complicated than