Dual Arm Manipulation using ConstraintBased Programming
2014 (English)In: Proceedings of the 19th World CongressThe International Federation of Automatic Control / [ed] Boje, Edward, Xia, Xiaohua, 2014, Vol. 19, 311-319 p.Conference paper (Refereed)
In this paper, we present a technique for online generation of dual arm trajectories using constraint based programming based on bound margins. Using this formulation, we take both equality and inequality constraints into account, in a way that incorporates both feedback and feedforward terms, enabling e.g. tracking of timed trajectories in a new way. The technique is applied to a dual arm manipulator performing a bi-manual task. We present experimental validation of the approach, including comparisons between simulations and real experiments of a complex bimanual tracking task. We also show how to add force feedback to the framework, to account for modeling errors in the systems. We compare the results with and without feedback, and show how the resulting trajectory is modified to achieve the prescribed interaction forces.
Place, publisher, year, edition, pages
2014. Vol. 19, 311-319 p.
Robots manipulators; Motion Control Systems; Intelligent robotics
Research subject Computer Science
IdentifiersURN: urn:nbn:se:kth:diva-165621DOI: 10.3182/20140824-6-ZA-1003.00126OAI: oai:DiVA.org:kth-165621DiVA: diva2:808726
The 19th IFAC world congress
ProjectsEuropean Union FP7 project RoboHow.Cog
FunderEU, FP7, Seventh Framework Programme, FP7-ICT-288533Swedish Foundation for Strategic Research Swedish Research Council
QC 201506302015-04-292015-04-292016-02-24Bibliographically approved