Dual Quaternion Based Kinematic Control for Yumi Dual Arm Robot

被引：0

作者：

Liang, Jimin ^{[1
,2
]}

Zhang, Gong ^{[1
]}

Wang, Weijun ^{[1
]}

Hou, Zhicheng ^{[1
]}

Li, Jun ^{[1
,3
]}

Wang, Xiying ^{[1
,3
]}

Han, Chang-Soo ^{[1
,4
]}

机构：

[1] Chinese Acad Sci, Guangzhou Inst Adv Technol, Guangzhou, Guangdong, Peoples R China

[2] Shenzhen Inst Adv Technol, Shenzhen, Peoples R China

[3] Shaanxi Univ Sci & Technol, Coll Mech & Elect Engn, Xian, Shaanxi, Peoples R China

[4] Hanyang Univ, Dept Mech Engn, Ansan, Gyeonggi Do, South Korea

来源：

2017 14TH INTERNATIONAL CONFERENCE ON UBIQUITOUS ROBOTS AND AMBIENT INTELLIGENCE (URAI) | 2017年

关键词：

dual quaternion; cooperative task-space; dual arm robot; kinematic control;

D O I：

暂无

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

One challenge in dual arm robotic field is the description of cooperative tasks of the two arms. Traditional methods with translational vector and rotational matrix are complex, especially for dual arm cooperative tasks. In this paper, using the ability of dual quaternion based full dual position control strategies, it is possible to present the cooperative kinematic control problem in a compact and lack of singularity manner. Simulations is carried out on ABB YuMi dual arm robot to show the effectiveness of the approach.

引用

页码：114 / 118

页数：5

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