Cooperative control of a serial-to-parallel structure using a virtual kinematic chain in a mobile dual-arm manipulation application
2015 (English)In: Intelligent Robots and Systems (IROS), 2015 IEEE/RSJ International Conference on, Hamburg, Germany: IEEE Robotics and Automation Society, 2015, 2372-2379 p.Conference paper (Refereed)
In the future mobile dual-arm robots are expected to perform many tasks. Kinematically, the configuration of two manipulators that branch from the same common mobile base results in a serial-to-parallel kinematic structure, which makes inverse kinematic computations non-trivial. The motion of the base has to be decided in a trade-off, taking the needs of both arms into account. We propose to use a Virtual Kinematic Chain (VKC) to specify the common motion of the parallel manipulators, instead of using the two manipulators kinematics directly. With this VKC, we formulate a constraint based programming solution for the robot to respond to external disturbances during task execution. The proposed approach is experimentally verified both in a noise-free illustrative simulation and a real human robot co-manipulation task.
Place, publisher, year, edition, pages
Hamburg, Germany: IEEE Robotics and Automation Society, 2015. 2372-2379 p.
mobile manipulation, dual-arm manipulation, human robot interaction
Control Engineering Robotics
Research subject Computer Science
IdentifiersURN: urn:nbn:se:kth:diva-179638DOI: 10.1109/IROS.2015.7353698ISI: 000371885402082ScopusID: 2-s2.0-84958168371OAI: oai:DiVA.org:kth-179638DiVA: diva2:885054
The 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems,Sept. 28 2015-Oct. 2 2015, Hamburg, Germany
FunderSwedish Foundation for Strategic Research , 6452
QC 201601052015-12-172015-12-172016-04-11Bibliographically approved