Artículo
Modelling and identification methods for simulation of cable-suspended dual-arm robotic systems
Autor/es | Ago, Giancarlo D´
Selvaggio, Mario Suárez Fernández-Miranda, Alejandro Gañán Onieva, Francisco Javier Buonocore, Luca Rosario Castro, Mario Di Lippiello, Vincenzo Ollero Baturone, Anibal Ruggiero, Fabio |
Departamento | Universidad de Sevilla. Departamento de Ingeniería de Sistemas y Automática |
Fecha de publicación | 2024-05 |
Fecha de depósito | 2024-02-20 |
Publicado en |
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Resumen | This paper proposes rigid-body modelling and identification procedures for long-reach dual-arm manipulators in a cable-suspended pendulum configuration. The proposed model relies on a virtually constrained open kinematic ... This paper proposes rigid-body modelling and identification procedures for long-reach dual-arm manipulators in a cable-suspended pendulum configuration. The proposed model relies on a virtually constrained open kinematic chain and lends itself to be simulated through the most commonly used robotic simulators without explicitly account for the cables constraints and flexibility. Moreover, a dynamic parameters identification procedure is devised to improve the simulation model fidelity and reduce the sim-to-real gap for controllers deployment. We show the capability of our model to handle different cable configurations and suspension mechanisms by customising it for two representative cable-suspended dual-arm manipulation systems: the LiCAS arms suspended by a drone and the CRANEbot system, featuring two Pilz arms suspended by a crane. The identified dynamic models are validated by comparing their evolution with data acquired from the real systems showing a high (between 91.3% to 99.4%) correlation of the response signals. In a comparison performed with baseline pendulum models, our model increases the simulation accuracy from 64.4% to 85.9%. The simulation environment and the related controllers are released as open-source code. |
Agencias financiadoras | Unón Europea, Horizon 2020 |
Identificador del proyecto | EU H2020 871479 |
Cita | Ago, G.D., Selvaggio, M., Suárez Fernández-Miranda, A., Gañán Onieva, F.J., Buonocore, L.R., Castro, M.D.,...,Ruggiero, . (2024). Modelling and identification methods for simulation of cable-suspended dual-arm robotic systems. Robotics and Autonomous Systems, 175 (104643). https://doi.org/10.1016/j.robot.2024.104643. |
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