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With the rapid development of robotics, dual-arm robots have been more and more widely used. Compared with the traditional single manipulator, it is very challenging for a dual-arm robot in modelling, planning and control. In this paper, we propose two compliance control methods for dual arm coordination to meet different requirements of fine manipulation tasks, such as payload carrying, assembly...
Joints flexibility will lead to the vibration of the manipulator's end-effector, not only affecting the execution of the task but also creating the safety problems. In order to achieve high accuracy and stability control, it is required to study the vibration properties of flexible-joint manipulators. First, we create the dynamics and kinematics models and analyze the effect of the joints flexibility...
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