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Cooperative control of a serial-to-parallel structure using a virtual kinematic chain in a mobile dual-arm manipulation application
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP.ORCID iD: 0000-0002-4032-4830
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS. (CAS)ORCID iD: 0000-0003-2078-8854
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP.ORCID iD: 0000-0002-7714-928X
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP. (CAS)ORCID iD: 0000-0001-5129-342X
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, Published paper (Refereed)
Abstract [en]

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.
Keyword [en]
mobile manipulation, dual-arm manipulation, human robot interaction
National Category
Control Engineering Robotics
Research subject
Computer Science
Identifiers
URN: urn:nbn:se:kth:diva-179638DOI: 10.1109/IROS.2015.7353698ISI: 000371885402082Scopus ID: 2-s2.0-84958168371OAI: oai:DiVA.org:kth-179638DiVA: diva2:885054
Conference
The 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems,Sept. 28 2015-Oct. 2 2015, Hamburg, Germany
Funder
Swedish Foundation for Strategic Research , 6452
Note

QC 20160105

Available from: 2015-12-17 Created: 2015-12-17 Last updated: 2016-04-11Bibliographically approved

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fulltext(625 kB)92 downloads
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Wang, YuquanSmith, ChristianÖgren, PetterKarayiannidis, Ioannis

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CiteExportLink to record
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Citation style
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