Coordinated Motion Generation and Object Placement: A Reactive Planning and Landing Approach

Laha, Riddhiman; Vorndamme, Jonathan; Figueredo, Luis Felipe da Cruz; Qu, Zheng; Swikir, Abdalla; Jähne, Christoph; Haddadin, Sami

doi:10.1109/iros51168.2021.9636652

Cited by 9 publications

(3 citation statements)

References 35 publications

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“…In [11], a circular-field coupling approach using a set-based task-priority strategy is followed to operate a two-arm system acting as one closed kinematic chain along a collision-free trajectory for wrench estimation and admittance-controlled responses to intended, as well as unintended contacts. In [12], the generalized-momentum observer is integrated into a Kalman filter to parameterize modeling inaccuracies and measurement noise by the covariance matrices to estimate contact forces at the TCP of the dual-arm cobot ABB YuMi.…”

Section: A Related Workmentioning

confidence: 99%

“…Passive joint angles are measured via incremental encoders 8 with an accuracy of 0.1 • , which are integrated into the data communication by a channel encoder interface 9 with 16 bits. Two force-torque sensors 10,11 12 which was modified with an external-mode patch and a shared-memory real-time interface 13 . Thus, a ROS package 14 for the FTS can be integrated into the communication with the control system in MATLAB/Simulink.…”

Section: A Experimental Setupmentioning

confidence: 99%

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Towards Human-Robot Collaboration with Parallel Robots by Kinetostatic Analysis, Impedance Control and Contact Detection

Mohammad

Schappler

Ortmaier

2023

2023 IEEE International Conference on Robotics and Automation (ICRA)

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Parallel robots provide the potential to be leveraged for human-robot collaboration (HRC) due to low collision energies even at high speeds resulting from their reduced moving masses. However, the risk of unintended contact with the leg chains increases compared to the structure of serial robots. As a first step towards HRC, contact cases on the whole parallel robot structure are investigated and a disturbance observer based on generalized momenta and measurements of motor current is applied. In addition, a Kalman filter and a second-order sliding-mode observer based on generalized momenta are compared in terms of error and detection time. Gearless direct drives with low friction improve external force estimation and enable low impedance. The experimental validation is performed with two force-torque sensors and a kinetostatic model. This allows a new identification method of the motor torque constant of an assembled parallel robot to estimate external forces from the motor current and via a dynamics model. A Cartesian impedance control scheme for compliant robot-environmental dynamics with stiffness from 0.1-2 N/mm and the force observation for low forces over the entire structure are validated. The observers are used for collisions and clamping at velocities of 0.4-0.9 m/s for detection within 9-58 ms and a reaction in the form of a zero-g mode.

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Section: A Related Workmentioning

confidence: 99%

Section: A Experimental Setupmentioning

confidence: 99%

Towards Human-Robot Collaboration with Parallel Robots by Kinetostatic Analysis, Impedance Control and Contact Detection

Mohammad

Schappler

Ortmaier

2023

2023 IEEE International Conference on Robotics and Automation (ICRA)

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“…Refs. [10,11] propose an integrated multi-agent global planning and central strategy for reactive dual arm manipulation while modeling the dual arm cooperative control by dual qualifications, which performs perfectly in transporting objects. Compared to single-arm robots, the problem of mutual collisions between the two arms is a significant constraint for motion planning of dual-arm robots.…”

Section: Introductionmentioning

confidence: 99%

Model Predictive Collision Avoidance Control for Object Transport of Unmanned Underwater Vehicle-Dual-Manipulator Systems

Wang,

Gao

2024

JMSE

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Unmanned underwater vehicle-dual-manipulator systems (UVDMSs) have attracted much research due to their humanoid operation capabilities, which have the advantage of cooperative manipulations and transporting underwater objects. Meanwhile, collision avoidance of UVDMSs is more challenging than that of unmanned underwater vehicle-dual manipulator systems (UVMSs). In this work, a model predictive control (MPC) approach is proposed for collision avoidance in objects transporting tasks of UVDMSs. The minimum distances of mutual manipulators and frame obstacles are handled as velocity constraints in the optimization of the UVDMS’s object tracking control. The command velocity generated by the model predictive kinematic controller is tracked by a dynamic inversion control scheme while model uncertainties are compensated by a neural network. Moreover, the tracking errors of the proposed dynamic controller are proved to be convergent by the Lyapunov method. At last, a three-dimensional (3D) UVDMS simulation platform is developed to verify the effectiveness of the proposed control strategy in the tasks of collision avoidance and object transport.

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Adaptive Admittance Control for Cooperative Manipulation using Dual Quaternion Representation and Logarithmic Mapping

Nebbia¹,

Laha²,

Figueredo³

et al. 2022

2022 IEEE 61st Conference on Decision and Control (CDC)

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Coordinated Motion Generation and Object Placement: A Reactive Planning and Landing Approach

Cited by 9 publications

References 35 publications

Towards Human-Robot Collaboration with Parallel Robots by Kinetostatic Analysis, Impedance Control and Contact Detection

Towards Human-Robot Collaboration with Parallel Robots by Kinetostatic Analysis, Impedance Control and Contact Detection

Model Predictive Collision Avoidance Control for Object Transport of Unmanned Underwater Vehicle-Dual-Manipulator Systems

Adaptive Admittance Control for Cooperative Manipulation using Dual Quaternion Representation and Logarithmic Mapping

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