A Multi Objective Control approach to Online Dual Arm Manipulation1

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

“…First it gives a biased use of q s in the sense that onlyq 1 is supported byq s through constraint (6). Further more, as different constraints are applied onq 1 andq 2 , q 1 and q 2 differ over time.…”

“…Following previous works in constraint-based programming, we integrate these constraints with the multi-objective control framework [6] [7]. We formulate two consequent quadratic programming problems (QPs) on-line to solve for the joint velocities.…”

“…By formulating an optimization problem, constraint based programming allows a wide range of sub-tasks to be formulated as inequality or equality constraints [6], [7]. However, the serial-to-parallel structure presents some problems in formulating these constraints [8].…”

“…We integrate these constraints with other different performance measures [6] into a constraint based programming framework. The proposed VKC-based method solves the coordination control with the following benefits: (1): Using the VKC, we are able to apply well-developed serial chain control laws/constraints to control a robot with a branching kinematic structure.…”

Dual arm manipulation—A survey

“…The high degree of task space redundancy for dual arm systems has been used for optimal performance for domestic tasks such as dishwashing [20].…”