Workspace analysis of a dual-arm mobile robot system for coordinated operation

Meng，Yue1; Zhao，Ziqi1; Chen，Weinan1; Xiao，Xiao1; Meng，Max Q.H.1,2,3

10.1109/RCAR52367.2021.9517634

2021-07-15

978-1-6654-3679-3

2021 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2021

1058-1063

15-19 July 2021

Xining, China

With the development of robotics, more and more complicated tasks are expected to be completed by robots, while the operation ability of single-arm robots is limited. To meet this requirement, a mobile dual-arm robot is designed, and the workspace is analyzed. The designed mobile dual-arm robot has a simple and easy-to-operate software system framework and a humanoid looking for effective Human-Robot-Interaction. After solving the forward kinematics, we provide the workspace analysis through the Monte Carlo method. With the extracted boundary of the workspace, the characteristics of the coordinated workspace of the dual-arm robot are provided. To verify the feasibility and effectiveness of our system, we use the designed dual-arm mobile robot to demonstrate manipulation tasks with equipped sensors.

Monte Carlo methods Shape Robot kinematics Kinematics Robot sensing systems Manipulators Software systems

第一

英语

EI

20213910936031

Mobile robots ; Monte Carlo methods ; Robotic arms ; Robotics

Robotics:731.5 ; Mathematical Statistics:922.2

2-s2.0-85115375266

Scopus

1.Southern University of Science and Technology,Department of Electronic and Electrical Engineering,Shenzhen,518055,China
2.Department of Electronic Engineering,The Chinese University of Hong Kong,Hong Kong,Hong Kong
3.Shenzhen Research Institute,Chinese University of Hong Kong,Shenzhen,Hong Kong

Meng，Yue,Zhao，Ziqi,Chen，Weinan,et al. Workspace analysis of a dual-arm mobile robot system for coordinated operation[C],2021:1058-1063.