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Asymmetric Dual-Arm Task Execution using an Extended Relative Jacobian
KTH, School of Electrical Engineering and Computer Science (EECS), Robotics, Perception and Learning, RPL.ORCID iD: 0000-0003-3252-715X
KTH, School of Electrical Engineering and Computer Science (EECS), Robotics, Perception and Learning, RPL.ORCID iD: 0000-0001-5129-342X
2019 (English)In: The International Symposium on Robotics Research, 2019Conference paper, Published paper (Refereed)
Abstract [en]

Coordinated dual-arm manipulation tasks can be broadly characterized as possessing absolute and relative motion components. Relative motion tasks, in particular, are inherently redundant in the way they can be distributed between end-effectors. In this work, we analyse cooperative manipulation in terms of the asymmetric resolution of relative motion tasks. We discuss how existing approaches enable the asymmetric execution of a relative motion task, and show how an asymmetric relative motion space can be defined. We leverage this result to propose an extended relative Jacobian to model the cooperative system, which allows a user to set a concrete degree of asymmetry in the task execution. This is achieved without the need for prescribing an absolute motion target. Instead, the absolute motion remains available as a functional redundancy to the system. We illustrate the properties of our proposed Jacobian through numerical simulations of a novel differential Inverse Kinematics algorithm.

Place, publisher, year, edition, pages
2019.
Keywords [en]
Kinematics, Robotics, Dual-Arm manipulation, manipulation
National Category
Robotics
Research subject
Computer Science
Identifiers
URN: urn:nbn:se:kth:diva-259615OAI: oai:DiVA.org:kth-259615DiVA, id: diva2:1352522
Conference
The International Symposium on Robotics Research
Note

QC 20190930

Available from: 2019-09-19 Created: 2019-09-19 Last updated: 2019-09-30Bibliographically approved

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CiteExportLink to record
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Citation style
  • apa
  • ieee
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  • vancouver
  • Other style
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Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
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  • Other locale
More languages
Output format
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