Modeling and Simulation of a Dual Arm Robot During the Compensation of an External Force
作者： Jebli Tarek , Zaoui Chiheb , Maalej Aref
DOI: 10.1007/S13369-018-3089-2
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摘要: In this paper, we rely on the equivalent dynamic approach to compensate external forces applied upper part of robot. This study allows us determine on-line required movements and accelerations two arms in order maintain robot stability. We firstly develop kinematics equations under perturbations. Then, use SimMechanics platform perform a simulation ADAM during force compensation. The is composed rotating torso three-degrees-of-freedom arms. Each arm equipped with three Brushless Direct Current motors which are controlled by IPOS 4808 drives. 3D assembly built SolidWorks exported SimMechanics. achieve best performance terms balance preservation, Proportional Derivative control implemented model modify values desired angular velocities proposed method was confirmed second phase through experiments for types disturbances trunk. highlights importance
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