A hybrid operating system for modular dual-arm manipulator

Qinpeng Dong; Zhen Huang; Hongxing Wei

doi:10.1109/ROBIO.2014.7090543

A hybrid operating system for modular dual-arm manipulator

Qinpeng Dong
, Zhen Huang
, Hongxing Wei

School of Mechanical Engineering and Automation

Beihang University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

3 Scopus citations

Abstract

A hybrid operating system running on a dual-core processor is introduced, and it incorporates the advantages of both real-time system and non-real-time system by establishing a mechanism of routing and communication method. After testing on a modular dual-arm manipulator, it has been proved that the system is robust and feasible. Firstly, by performing the kinematics analysis on a 3D demonstration platform, the path planning and online teaching are realized. Then, after testing the response time of the system, real-time motion control of the manipulator is fulfilled to perform coordinated task. The main contribution of the present work lie in developing a hybrid operating system for modular dual-arm manipulator, which has abundant software packages and can perform real-time tasks.

Original language	English
Title of host publication	2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1481-1486
Number of pages	6
ISBN (Electronic)	9781479973965
DOIs	https://doi.org/10.1109/ROBIO.2014.7090543
State	Published - 20 Apr 2014
Event	2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014 - Bali, Indonesia Duration: 5 Dec 2014 → 10 Dec 2014

Publication series

Name	2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014

Conference

Conference	2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
Country/Territory	Indonesia
City	Bali
Period	5/12/14 → 10/12/14

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10.1109/ROBIO.2014.7090543

Cite this

Dong, Q., Huang, Z., & Wei, H. (2014). A hybrid operating system for modular dual-arm manipulator. In 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014 (pp. 1481-1486). Article 7090543 (2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBIO.2014.7090543

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title = "A hybrid operating system for modular dual-arm manipulator",

abstract = "A hybrid operating system running on a dual-core processor is introduced, and it incorporates the advantages of both real-time system and non-real-time system by establishing a mechanism of routing and communication method. After testing on a modular dual-arm manipulator, it has been proved that the system is robust and feasible. Firstly, by performing the kinematics analysis on a 3D demonstration platform, the path planning and online teaching are realized. Then, after testing the response time of the system, real-time motion control of the manipulator is fulfilled to perform coordinated task. The main contribution of the present work lie in developing a hybrid operating system for modular dual-arm manipulator, which has abundant software packages and can perform real-time tasks.",

author = "Qinpeng Dong and Zhen Huang and Hongxing Wei",

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year = "2014",

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day = "20",

doi = "10.1109/ROBIO.2014.7090543",

language = "英语",

series = "2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014",

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Dong, Q, Huang, Z & Wei, H 2014, A hybrid operating system for modular dual-arm manipulator. in 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014., 7090543, 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014, Institute of Electrical and Electronics Engineers Inc., pp. 1481-1486, 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014, Bali, Indonesia, 5/12/14. https://doi.org/10.1109/ROBIO.2014.7090543

A hybrid operating system for modular dual-arm manipulator. / Dong, Qinpeng; Huang, Zhen; Wei, Hongxing.
2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014. Institute of Electrical and Electronics Engineers Inc., 2014. p. 1481-1486 7090543 (2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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A hybrid operating system for modular dual-arm manipulator

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