The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
권호 표지
DOI QR코드

DOI QR Code

A Study on the Performance Analysis of the Dual-arm Robot for the Assembly Task

조립 공정에서 양팔 로봇의 구조에 따른 작업성 평가 방법 연구

  • Received : 2022.03.10
  • Accepted : 2022.04.19
  • Published : 2022.05.31
Download PDF
⟨ Previous Next ⟩

Abstract

Recently, interest of a dual arm robot which can replace humans is increasing in order to improve the working environment and solve the labor shortage. Various studies related with design and analysis of dual-arm robots have been conducted because dual arm robots can have various kinematic configurations according to the objective task. It is necessary to evaluate the work performance according to various kinematic structures of the dual arm robot to maximize its effectiveness. In the paper, the performance analysis is studied according to the shoulder configuration and the wrist configuration of the dual-arm robot by using main performance indices such as manipulability, condition number, and minimum singular value by assigning proper weight values to each objective motion. Performance analysis for the robotic assembly process is effectively carried out for each representative dual arm robot configuration.

Keywords

Acknowledgement

This project is currently supported by the Technology Innovation Program (No.1415169457) funded by the Ministry of Trade, Industry and Energy, Korea Government

References

  1. T. Yoshikawa, "Manipulability of Robotic Mechanisms," The International Journal of Robotics Research, vol. 4, no. 2, pp. 3-9, 1985, DOI: 10.1177/027836498500400201.
  2. E. Staffetti, H. Bruyninck, and J. De Schutter, "On the Invariance of Manipulability Indices," Advances in Robot Kinematics: Theory and Applications, Springer, pp. 57-66, 2002, DOI: 10.1007/978-94-017-0657-5.
  3. J. K. Salisbury and J. J. Craig, "Articulated Hands: Force Control and Kinematic Issues," The International Journal of Robotics Research, vol. 1, no. 1, pp. 4-17, 1982, DOI: 10.1177/027836498200100102.
  4. J.-O. Kim and K. Khosla, "Dexterity Measures for Design and Control of Manipulators," IROS '91 :I EEE/RSJ International Workshop on Intelligent Robots and Systems, Osaka, Japan, 1991, DOI: 10.1109/IROS.1991.174572.
  5. S. L. Chiu, "Kinematic characterization of manipulators: an approach to defining optimality," 1988 IEEE International Conference on Robotics and Automation, Philadelphia, PA, USA, 1988, DOI: 10.1109/ROBOT.1988.12163.
  6. J. Angeles and C. S. Lopez-Cajun, "Kinematic Isotropy and the Conditioning Index of Serial Robotic Manipulators." The International Journal of Robotics Research, vol. 11, no. 6, pp. 560-571, 1992, DOI: 10.1177/027836499201100605.
  7. L. Guilamo, J. Kuffner, K. Nishiwaki, and S. Kagami, "Manipulability optimization for trajectory generation," 2006 IEEE International Conference on Robotics and Automation, Orlando, FL, USA, 2006, DOI: 10.1109/ROBOT.2006.1642001.
  8. T. Zhang, M. Minami, O. Yasukura, and W. Song, "Reconfiguration Manipulability Analyses for Redundant Robots," ASME. J. Mechanisms Robotics, vol. 5, no. 4, 2013, DOI: 10.1115/1.4024727.
  9. A. Bowling and O. Khatib, "The dynamic capability equations: a new tool for analyzing robotic manipulator performance," IEEE Transactions on Robotics, vol. 21, no. 1, pp. 115-123, 2005, DOI: 10.1109/TRO.2004.837243.
  10. A. Ajoudani, N. G. Tsagarakis, and A. Bicchi, "On the role of robot configuration in Cartesian stiffness control," 2015 IEEE International Conference on Robotics and Automation (ICRA), Seattle, WA, USA, 2015, DOI: 10.1109/ICRA.2015.7139300.
  11. A. Ajoudani, N. G. Tsagarakis, and A. Bicchi, "Choosing Poses for Force and Stiffness Control," IEEE Transactions on Robotics, vol. 33, no. 6, pp. 1483-1490, 2017, DOI: 10.1109/TRO.2017.2708087.
  12. M. Azad, J. Babic, and M. Mistry, "Effects of the weighting matrix on dynamic manipulability of robots," Autonomous Robots, vol. 43, pp. 1867-1879, 2019, DOI: 10.1007/s10514-018-09819-y.
  13. C. Smith, Y. Karayiannidis, L. Nalpantidis, X. Gratal, P. Qi, D. V. Dimarogonas, and D. Kragic, "Dual arm manipulationa survey," Robotics and Autonomous Systems, vol. 60, no. 10, pp. 1340-1353, Oct., 2012, DOI: 10.1016/j.robot.2012.07.005.
  14. S. Lee, "Dual redundant arm configuration optimization with task-oriented dual arm manipulability," IEEE Transactions on Robotics and Automation, vol. 5, no. 1, Feb., 1989, DOI: 10.1109/70.88020.
  15. M.-H. Choi, M.-Y. Lee, B.-H. Lee, and M.-S. Ko, "On the manipulability measure of dual arm," Institute of Control, Robotics and Systems, pp.1156-1161, 1990, [Online], https://www.koreascience.or.kr/article/CFKO199011919696004.page.
  16. C. A. Klein and B. E. Blaho, "Dexterity Measures for the Design and Control of Kinematically Redundant Manipulators," The International Journal of Robotics Research, vol. 6, no. 2, pp. 72-83, 1987, DOI: 10.1177/027836498700600206.
  17. N. Vahrenkamp, T. Asfour, G. Metta, G. Sandini, and R. Dillmann, "Manipulability analysis," 2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012), Osaka, Japan, 2012, DOI: 10.1109/HUMANOIDS.2012.6651576.
  18. M. Bagheri, A. Ajoudani, J. Lee, D. G. Caldwell, and N. G. Tsagarakis, "Kinematic analysis and design considerations for optimal base frame arrangement of humanoid shoulders," 2015 IEEE International Conference on Robotics and Automation (ICRA), Seattle, WA, USA, 2015, DOI: 10.1109/ICRA.2015.7139566.
  19. Z. Ju, C. Yang, and H. Ma, "Kinematics modeling and experimental verification of baxter robot," The 33rd Chinese Control Conference, Nanjing, China, 2014, DOI: 10.1109/ChiCC.2014.6896430.
  20. F.-P. Kirgis, P. Katsos, and M. Kohlmaier, "Collaborative Robotics," Robotic Fabrication in Architecture, Art and Design, Springer Int Publishing Switzerland, pp. 448-453, 2016, DOI: 10.1007/978-3-319-26378-6.
  21. D. I. Park, C. Park, H. Do, T. Choi, and J. Kyung, "Development of dual arm robot platform for automatic assembly," 2014 14th International Conference on Control, Automation and Systems (ICCAS 2014), Gyeonggi-do, Korea, 2014, DOI: 10.1109/ICCAS.2014.6988013.
  22. C. M. Gosselin, "The optimum design of robotic manipulators using dexterity indices," Robotics and Autonomous Systems, vol. 9, no. 4, pp. 213-226, 1992, DOI: 10.1016/0921-8890(92)90039-2.