Conference papers
Dual-Arm Coordination Using Dual Quaternions and Virtual Mechanisms
Abstract : A novel approach to the kinematic coordination problem for dual-arm robots and for the definition of bimanual tasks is proposed, where both modelling and control aspects of the problem are handled using dual quaternion representation of pose and screw-based manipulator Jacobian. The proposed formulation is advantageous in terms of computation and storage efficiency compared to other formulations of dual-arm manipulator forward kinematics and Jacobian computation. Unit dual quaternion representation is also capable of avoiding representational singularities related to orientation. The coordination problem for dual-arm manipulation is addressed using relative Jacobian, and parametrized task definition is achieved using virtual mechanisms and task-specific Jacobians. The framework hence developed has been validated using a dual-arm Baxter robot for steering wheel rotation and bimanual pouring tasks, thus validating the position controller with both relative and global task-space motions. The proposed experiments use a visual sensing strategy to detect and follow the manipulated objects during the task.
Cited literature [14 references]
https://hal.uca.fr/hal-02098256
Contributor : Juan Antonio Corrales Ramon <>
Submitted on : Friday, April 12, 2019 - 3:05:44 PM
Last modification on : Wednesday, February 24, 2021 - 4:16:03 PM
Contributor : Juan Antonio Corrales Ramon <>
Submitted on : Friday, April 12, 2019 - 3:05:44 PM
Last modification on : Wednesday, February 24, 2021 - 4:16:03 PM
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