Task-Space Modular Dynamics for Dual-Arms Expressed through a Relative Jacobian

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Publication Details

Author list: Jamisola RS, Kormushev PS, Roberts RG, Caldwell DG

Publisher: Springer Verlag (Germany)

Place: DORDRECHT

Publication year: 2016

Journal: Journal of Intelligent and Robotic Systems (0921-0296)

Journal acronym: J INTELL ROBOT SYST

Volume number: 83

Issue number: 2

Start page: 205

End page: 218

Number of pages: 14

ISSN: 0921-0296

eISSN: 1573-0409

Languages: English-Great Britain (EN-GB)

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Abstract

This paper presents modular dynamics for dual-arms, expressed in terms of the kinematics and dynamics of each of the stand-alone manipulators. The two arms are controlled as a single manipulator in the task space that is relative to the two end-effectors of the dual-arm robot. A modular relative Jacobian, derived from a previous work, is used which is expressed in terms of the stand-alone manipulator Jacobians. The task space inertia is expressed in terms of the Jacobians and dynamics of each of the stand-alone manipulators. When manipulators are combined and controlled as a single manipulator, as in the case of dual-arms, our proposed approach will not require an entirely new dynamics model for the resulting combined manipulator. But one will use the existing Jacobians and dynamics model for each of the stand-alone manipulators to come up with the dynamics model of the combined manipulator. A dual-arm KUKA is used in the experimental implementation.

Keywords

Chain-cleaning task, Combined manipulators, Dual-arm KUKA, Dual-arms, Modular dynamics, Modular relative Jacobian, Wrench transformation matrix

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