Page 301 - Robot Design Handbook ROBOCON Malaysia 2019

Figure 5: Required actuation for general movement.

2.2 Dual-Arms Robot Manipulators

The main advantage and benefit of a dual-arm robots over a single-arm system is
multi-tasking. However, several open problems concerning understanding, controlling,

planning and programming of a dual-arm bimanual operations prevent its wider use and

require considerable further research efforts in order to achieve an efficient application of
dual-arm robots in industrial practice. Controlling and programming of a dual-arm robot

manipulator assembly tasks, however, requires more complex approaches due to the
assembly tasks involving various composite motions and transitions phases. Thus, for this

project, the dual-arms robot manipulator is only required to synchronize the movement and
for picking up and throwing the Shagai effectively.

The impedance control provides a fundamental approach for the control of bimanual
operations. The control objective of the impedance control is to realize a reference target

model specifying the interaction between the robot and environment. Commonly, the linear

second-order differential equation form (1) is adopted, describing the simple and well-
understood mass-spring-damper mechanical system

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