Cooperative control of a serial-to-parallel structure using a virtual kinematic chain in a mobile dual-arm manipulation application
Paper in proceeding, 2015

In the future mobile dual-arm robots are expected to perform many tasks. Kinematically, the configuration of two manipulators that branch from the same common mobile base results in a serial-to-parallel kinematic structure, which makes inverse kinematic computations non-trivial. The motion of the base has to be decided in a trade-off, taking the needs of both arms into account. We propose to use a Virtual Kinematic Chain (VKC) to specify the motion of the parallel manipulators, instead of using the two manipulators kinematics directly. With this VKC, we formulate a constraint based programming solution for the robot to respond to external disturbances during task execution. The proposed approach is experimentally verified both in a noise-free illustrative simulation and a real human robot co-manipulation task.

Author

Yuquan Wang

Royal Institute of Technology (KTH)

C. Smith

Royal Institute of Technology (KTH)

Yiannis Karayiannidis

Royal Institute of Technology (KTH)

Chalmers, Signals and Systems, Systems and control

Petter Ögren

Royal Institute of Technology (KTH)

IEEE International Conference on Intelligent Robots and Systems

21530858 (ISSN) 21530866 (eISSN)

Vol. 2015-December 2372-2379

Subject Categories

Robotics

Control Engineering

DOI

10.1109/IROS.2015.7353698

More information

Latest update

7/12/2024