Title: Non-prehensile manipulation planning of a three-rigid-link object using two cooperative robot arms

Authors: Omar Mehrez; Zakarya Zyada; Hossam S. Abbas; Ahmed A. Abo-Ismail

Addresses: Mechanical Power Engineering Department, Faculty of Engineering, Tanta University, Siberpay, Tanta 31511, Egypt ' Faculty of Mechanical Engineering (FKM), Universiti Teknologi Malaysia (UTM), 81310 UTM Skudai, Johor, Malaysia; Mechanical Power Engineering Department, Faculty of Engineering, Tanta University, Siberpay, Tanta 31511, Egypt ' Electrical Engineering Department, Faculty of Engineering, Assiut University, Assiut 71515, Egypt ' Mechatronics and Robotics Engineering Department, Egypt-Japan University of Science and Technology (E-JUST), New Borg El-Arab City, Alexandria 21934, Egypt

Abstract: This work presents the dynamic modelling, the static analysis, and a proposed control algorithm for non-prehensile manipulation of a three rigid link object manipulated by two cooperative robot arms in a plane. The system is configured so that one arm is in contact with two links, while the other arm is in contact with the third link. The purpose of the static analysis is to obtain the interaction forces as well as their locations required to hold the object for a specified configuration. The dynamic model of the system is introduced, and the static analysis, considering both the frictionless and frictional contact cases, is deduced. The effect of changing the direction of the static frictional forces at the multi contact points on the static problem is introduced. A PD controller with feed forward acceleration is proposed to perform the manipulation task. Simulation results show the validity of the proposed control scheme.

Keywords: non-prehensile manipulation; manipulation control; multi-link objects; object manipulation; cooperative arms; robot arms; robot control; frictional contact; dynamic modelling; static analysis; cooperative robots; PD control; controller design; feedforward acceleration; simulation.

DOI: 10.1504/IJMIC.2016.077748

International Journal of Modelling, Identification and Control, 2016 Vol.26 No.1, pp.19 - 31

Received: 11 Oct 2014
Accepted: 08 Oct 2015
Published online: 14 Jul 2016 *

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