DualX
DualX is a dual robotic arm with 7(RightArm) + 7(LeftArm) +3(Waist) degrees of freedom. It provides enhanced functional dexterity for many tasks, such as using one arm to pick up an object and hold it in position, while the other pick up a tool and use it on the object, or painting two different patterns simultaneously. The robotic arm can be driven joint-by-joint through Joint Space Control or Inverse Kinematic Control based on augmented gradient decent Method. The extra degrees of freedom enable each arm to complete a given main task and perform a subtask at the same time. For example, the subtask of torque optimized distribution, the collision avoidance and singularity avoidance. |
DesignThe Dual arm's kinematic model was constructed with Denavit–Hartenberg parameters, making the kinematic modification easily.
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ControlBy using Second-order control on the both arms, both end-effector could trace the desired trajectory independently.
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ApplicationsDual arm can mill both sides of the convex surface in the same time, saving a great amount of time when manufacturing
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