Impulse measure based performance analysis of sawing task by dual arm

Abstract

Some of manufacturing tasks such as sawing task often requires continuous impulsive motion. In case of sawing task, such impulsive motions can be observed between the teeth of the saw and the object. The amount of the external impulse exerted on the object has been treated as an important control parameter. Also, the internal impulses experienced at the joints should be simultaneously taken into account to avoid serious damage or injury at the joints. The purpose of this work is to improve the efficacy of sawing task by using dual arm. For this, an external impulse model for sawing task is suggested. Also, the closed-form internal impulse models are proposed for both a single and dual arms. Based on these models, a new measure for internal impulse is proposed. A normalized impulse ellipsoid reflecting the velocity direction is employed to visualize the impact geometry. Finally, the optimal sawing region is identified in which the amount of external impulse is maximized and the amount of the internal impulse is minimized. It is demonstrated through simulation that the dual arm exhibits better sawing performance over a single arm is aspects of external and internal impulses.