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Virtual mechanism approach for dual-arm manipulation

Published online by Cambridge University Press:  02 August 2013

Nejc Likar ,
Bojan Nemec  and
Leon Žlajpah
Nejc Likar*
Affiliation:
Jozef Stefan International Postgraduate School, Jamova 39, 1000 Ljubljana, Slovenia Jozef Stefan Institute, Jamova 39, 1000 Ljubljana, Slovenia
Bojan Nemec
Affiliation:
Jozef Stefan Institute, Jamova 39, 1000 Ljubljana, Slovenia
Leon Žlajpah
Affiliation:
Jozef Stefan Institute, Jamova 39, 1000 Ljubljana, Slovenia
*
*Corresponding author. E-mail: nejc.likar@ijs.si
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Summary

We propose a novel control approach for cooperative dual-arm manipulation tasks. Our scheme has three typical features: (1) the task performed by two robots is represented as a motion of a virtual mechanism and the task execution is accomplished by controlling the virtual mechanism; (2) the two arms and the task form a joined kinematic chain; (3) the scheme allows a cooperative dual-arm system to perform the task also when robot base is moving. The calculation of the Jacobian matrix of a chained two-arm mechanisms is based on a methodology which is using the Jacobian matrices of particular robot mechanisms and their end-effector positions and orientations. The proposed algorithm for dual-arm manipulation is verified by simulations of two cooperating planar robots and by experiments on a dual-arm robot consisting of two KUKA LWR arms.

Keywords

Dual-arm manipulationObject manipulationVirtual mechanism
Type
Articles
Information
Robotica , Volume 32 , Issue 6 , September 2014 , E3
Copyright
Copyright © Cambridge University Press 2013 

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