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High Efficiency Digital Design Simulation Method for Dual-Arm Dexterous Robot

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Proceedings of 2022 Chinese Intelligent Systems Conference (CISC 2022)

Part of the book series: Lecture Notes in Electrical Engineering ((LNEE,volume 951))

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Abstract

This design simulation method verifies the kinematics and dynamics performance of the arm/hand cooperative pliancy control algorithm, as well as the multi-fingers cooperative force-closed grasping planning control algorithm of the dexterous hand, by constructing the kinematics and dynamics models of the dual-arm dexterous robot, which is a complex coupling serial-parallel mechanisms. Iteration and optimization of control algorithms in the simulation environment can significantly improve the quality of prototypes, greatly reduce the problems of modification and repair in the process of prototype research, improve efficiency, and support forward design, effectively promoting the iteration of second-generation prototypes.

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Authors and Affiliations

  1. Beijing Institute of Precision Mechatronics and Controls, Beijing, 100076, China

    Yajing Guo, Fan Yang, Bohan Lv, Shanda Wang & Si Zeng

  2. Laboratory of Aerospace Servo Actuation and Transmission, Beijing, 100076, China

    Yajing Guo, Fan Yang, Bohan Lv, Shanda Wang & Si Zeng

Authors
  1. Yajing Guo
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  2. Fan Yang
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  3. Bohan Lv
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  4. Shanda Wang
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  5. Si Zeng
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Corresponding author

Correspondence to Yajing Guo .

Editor information

Editors and Affiliations

  1. School of Automation Science and Electrical Engineering, Beihang University, Beijing, China

    Yingmin Jia

  2. School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing, China

    Weicun Zhang

  3. School of Mechanical Engineering and Automation, Beihang University, Beijing, China

    Yongling Fu

  4. Beijing Institute of Precision Mechatronics and Controls, Beijing, China

    Shoujun Zhao

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© 2022 The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

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Guo, Y., Yang, F., Lv, B., Wang, S., Zeng, S. (2022). High Efficiency Digital Design Simulation Method for Dual-Arm Dexterous Robot. In: Jia, Y., Zhang, W., Fu, Y., Zhao, S. (eds) Proceedings of 2022 Chinese Intelligent Systems Conference. CISC 2022. Lecture Notes in Electrical Engineering, vol 951. Springer, Singapore. https://doi.org/10.1007/978-981-19-6226-4_35

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  • DOI: https://doi.org/10.1007/978-981-19-6226-4_35

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-19-6225-7

  • Online ISBN: 978-981-19-6226-4

  • eBook Packages: Computer ScienceComputer Science (R0)

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