1A1-G19 Autonomous Control of Dual-Arm Robot with Multibody Dynamics and Stereo Camera

Abstract

This paper describes a method of modeling based on multibody dynamics (MBD) and autonomous control of a dual-arm robot with a stereo camera. Each arm of the robot has seven degrees of freedom as human. It is easy to set up the three dimensional motion equations with one of MBD. The model of the robot is derived by using the MBD. The controller of the robot is composed of LQI controller and gravity compensation. Gravity compensation is designed by the MBD model. The positions of handling objects are obtained by 3D and color data of stereo camera. We test effectiveness of our proposed method by experiment.