Whole Body Control of a Dual-Arm Mobile Robot Using a Virtual Kinematic Chain
Journal article, 2016

Dual-arm manipulators have more advanced manipulation abilities compared to single-arm manipulators and manipulators mounted on a mobile base have additional mobility and a larger workspace. Combining these advantages, mobile dual-arm robots are expected to perform a variety of tasks in the future. Kinematically, the configuration of two arms that branches from the mobile base results in a serial-to-parallel kinematic structure. In order to respond to external disturbances, this serial-to-parallel kinematic structure makes inverse kinematic computations non-trivial, as the motion of the base has to take the needs of both arms into account. Instead of using the dual-arm kinematics directly, we propose to use a virtual kinematic chain (VKC) to specify the common motion of the two arms. We formulate a constraint-based programming solution which consists of two parts. In the first part, we use an extended serial kinematic chain including the mobile base and the VKC to formulate constraints that realize the desired orientation and translation expressed in the world frame. In the second part, we use the resolved VKC motion to constrain the common motion of the two arms. In order to explore the redundancy of the two arms in an optimization framework, we also provide a VKC-oriented manipulability measure as well as its closed-form gradient. We verify the proposed approach with simulations and experiments that are performed on a PR2 robot, which has two 7 degrees of freedom (DoF) arms and a 3 DoF mobile base.

manipulatability

Robotics

mechanisms

dual-arm robot

virtual kinematic chain

1988

iu sl

international journal of robotics research

Mobile manipulation

p13

v7

manipulators

Author

Y. Q. Wang

Royal Institute of Technology (KTH)

C. Smith

Royal Institute of Technology (KTH)

Yiannis Karayiannidis

Chalmers, Signals and Systems, Systems and control, Mechatronics

P. Ogren

Royal Institute of Technology (KTH)

International Journal of Humanoid Robotics

0219-8436 (ISSN)

Vol. 13 1

Areas of Advance

Information and Communication Technology

Subject Categories

Robotics

Signal Processing

DOI

10.1142/S0219843615500474

More information

Latest update

2/26/2018