Task-Space Modular Dynamics for Dual-Arms Expressed through a Relative Jacobian

被引：20

作者：

Jamisola, Rodrigo S., Jr. ^{[1
]}

Kormushev, Petar S. ^{[2
]}

Roberts, Rodney G. ^{[3
,5
]}

Caldwell, Darwin G. ^{[4
]}

机构：

[1] Botswana Int Univ Sci & Technol, Dept Elect Comp & Telecommun Engn, Palapye, Botswana

[2] Imperial Coll London, Dyson Sch Design Engn, London, England

[3] Florida State Univ, Dept Elect & Comp Engn, Tallahassee, FL 32306 USA

[4] Inst Italiano Tecnol, Dept Adv Robot, Via Morego 30, I-16163 Genoa, Italy

[5] Univ Macau, Ave Univ, Taipa, Macau, Peoples R China

来源：

JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS | 2016年 / 83卷 / 02期

关键词：

Modular dynamics; Modular relative Jacobian; Dual-arms; Combined manipulators; Dual-arm KUKA; Chain-cleaning task; Wrench transformation matrix; ROBOT MANIPULATORS; COORDINATED MOTION; IMPEDANCE CONTROL; IMPACT DYNAMICS; FORCE CONTROL; SYSTEM;

D O I：

10.1007/s10846-016-0361-0

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

This paper presents modular dynamics for dual-arms, expressed in terms of the kinematics and dynamics of each of the stand-alone manipulators. The two arms are controlled as a single manipulator in the task space that is relative to the two end-effectors of the dual-arm robot. A modular relative Jacobian, derived from a previous work, is used which is expressed in terms of the stand-alone manipulator Jacobians. The task space inertia is expressed in terms of the Jacobians and dynamics of each of the stand-alone manipulators. When manipulators are combined and controlled as a single manipulator, as in the case of dual-arms, our proposed approach will not require an entirely new dynamics model for the resulting combined manipulator. But one will use the existing Jacobians and dynamics model for each of the stand-alone manipulators to come up with the dynamics model of the combined manipulator. A dual-arm KUKA is used in the experimental implementation.

引用

页码：205 / 218

页数：14

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