Task-space regulation of cooperative manipulators

Dual arm manipulation—A survey

“…On the other hand, there is work which considers the cooperative task-space formulation for fixed-grasp typical dual arm manipulation problems and proposes very simple control laws based on PD with gravity compensation structure. The two basic approaches are the following: i) finding the desired joint values that correspond to the cooperative task using inverse kinematic algorithms and substituting them within a joint space PD control scheme [76], and ii) finding the desired position of each manipulator based on the desired absolute and relative position of the task-space formulation and substitute them within the robot's operational space PD controllers [77]. The regulators can be also combined with internal force feedback and can be regarded as hybrid force/position controllers since they exploit the kineto-static filtering of the control actions.…”

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

“…From the robot base to the commonly manipulated object, there are five coordinate frames: the base frame F b , the torso frame F t , the left/right end-effector frames F e1 , F e2 and the virtual end-effector frame F v which is in the middle of the end-effector frames F e1 and F e2 . Similar to the cooperative task space variables [11] we use the following to define F v :…”

A Multi Objective Control approach to Online Dual Arm Manipulation1

“…The potential benefits of endowing robots, such as the one in Figure 1, with two arms fall into four main categories, first, teleoperation is easier if the robot is similar to the operator (Jau, 1988;Yoon et al, 1999;Kron and Schmidt, 2004;Buss et al, 2006;Taylor and Seward, 2010), second, using tools and workflows designed for humans is easier if the robot is similar to a human (Kemp et al, 2007;Fuchs et al, 2009;Bloss, 2010;Kr uger et al, 2011), third, the two arms can either provide additional strength and precision by cooperating as a parallel manipulator, or provide flexibility and speed by doing two separate tasks simultaneously (Lee and Kim, 1991), fourth, the two arms can perform task that are inherently bi-manual (Chiacchio and Chiaverini, 1998;Caccavale et al, 2000). i.e., tasks that require motion of both arms to be carried out efficiently.…”