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.

Författare

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

Petter Ögren

Kungliga Tekniska Högskolan (KTH)

IEEE International Conference on Intelligent Robots and Systems

21530858 (ISSN) 21530866 (eISSN)

Vol. 2015-December 2372-2379

Ämneskategorier

Robotteknik och automation

Reglerteknik

DOI

10.1109/IROS.2015.7353698

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Senast uppdaterat

2024-07-12