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


Yuquan Wang

Kungliga Tekniska Högskolan (KTH)

C. Smith

Kungliga Tekniska Högskolan (KTH)

Yiannis Karayiannidis

Kungliga Tekniska Högskolan (KTH)

Chalmers, Signaler och system, System- och reglerteknik, Mekatronik

Petter Ögren

Kungliga Tekniska Högskolan (KTH)

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg, GERMANY, SEP 28-OCT 02 2015

2153-0858 (ISSN)



Robotteknik och automation




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