Abstract
This paper presents a new kinematic control scheme for dual-arm systems. Namely, the control problem is solved in two stages: an inverse kinematics procedure cascaded by two joint space controllers. The coordinated motion task of the system is formulated in terms of absolute and relative variables, where quaternions are used to describe both the absolute and the relative orientation of the system. An iterative algorithm, derived via spatial algebra formalism, is adopted for the generation of the joint references for the two manipulators at each time step. The desired joint trajectories are then passed to the individual joint servos of the manipulators. The proposed kinematic control scheme is experimentally tested on a setup of two industrial robot manipulators.
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© 1998 Springer Science+Business Media Dordrecht
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Wróblewski, W., Caccavale, F. (1998). A Spatial Algebra Approach to Kinematic Control of Dual-Arm Systems. In: Lenarčič, J., Husty, M.L. (eds) Advances in Robot Kinematics: Analysis and Control. Springer, Dordrecht. https://doi.org/10.1007/978-94-015-9064-8_20
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DOI: https://doi.org/10.1007/978-94-015-9064-8_20
Publisher Name: Springer, Dordrecht
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