Fast position and posture control of an anthropomorphous 7 DOF dual-arm mobile robot

摘要

This paper presents a fast pose position and posture control method for an anthropomorphous seven degrees-of-freedom (DOF) dual-arm mobile robot. The method is aimed to control the dual arm from their initial position and posture to a destination position and posture, and it consists of two phases: coarse and refined. In the coarse phase, an analytical inverse kinematic method together with a trajectory planner and PIV joint controllers is proposed to bring the dual arms to a neighborhood of the destination position and posture, and, in the refined phase, a Jacobian inverse kinematic method along with a P controller and PI speed joint controllers is used to achieve position and posture control with an acceptable accuracy. The effectiveness and merit of the proposed control method are well exemplified by conducting two simulations.