A journal of IEEE and CAA , publishes high-quality papers in English on original theoretical/experimental research and development in all areas of automation
Volume 6 Issue 6
Nov.  2019

IEEE/CAA Journal of Automatica Sinica

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Article Contents
Changan Jiang and Satoshi Ueno, "Posture Maintenance Control of 2-Link Object By Nonprehensile Two-Cooperative-Arm Robot Without Compensating Friction," IEEE/CAA J. Autom. Sinica, vol. 6, no. 6, pp. 1397-1403, Nov. 2019. doi: 10.1109/JAS.2019.1911759
 Citation: Changan Jiang and Satoshi Ueno, "Posture Maintenance Control of 2-Link Object By Nonprehensile Two-Cooperative-Arm Robot Without Compensating Friction," IEEE/CAA J. Autom. Sinica, vol. 6, no. 6, pp. 1397-1403, Nov. 2019.

# Posture Maintenance Control of 2-Link Object By Nonprehensile Two-Cooperative-Arm Robot Without Compensating Friction

##### doi: 10.1109/JAS.2019.1911759
• In this paper, a method to posture maintenance control of 2-link object by nonprehensile two-cooperative-arm robot without compensating friction is proposed. In details, a mathematical model of the 2-link object is firstly built. Based on the model, stable regions for holding motion of nonprehensile two-cooperative-arm robot are obtained while the 2-link object is kept stable on the robot arms with static friction. Among the obtained stable regions, the robust pairs of orientation angles of the 2-link object are found. Under the robust orientation angles, a feedback control system is designed to control the arms to maintain the 2-link object’s posture while it is being held or lifted up. Finally, experimental results are shown to verify the effectiveness of the proposed method.

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沈阳化工大学材料科学与工程学院 沈阳 110142

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## Highlights

• This research focuses on posture maintenance control of 2-link object regarded as a care-receiver.
• Nonprehensile two-cooperative-arm robot is employed to maintain the 2-link object’s posture.
• Without compensating friction, 2-link object can be held or lift up by the nonprehensile robot.
• Robust pairs of orientation angles are obtained and used to posture maintenance control.

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