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Cooperative control of a serial-to-parallel structure using a virtual kinematic chain in a mobile dual-arm manipulation application

Yuquan Wang ; Christian Smith ; Yiannis Karayiannidis (Institutionen för signaler och system, Mekatronik) ; Petter Ögren
2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg, GERMANY, SEP 28-OCT 02 2015 (2153-0858). p. 2372-2379. (2015)
[Konferensbidrag, refereegranskat]

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 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.



Denna post skapades 2016-01-21. Senast ändrad 2016-04-15.
CPL Pubid: 231091

 

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Institutioner (Chalmers)

Institutionen för signaler och system, Mekatronik

Ämnesområden

Robotteknik och automation
Reglerteknik

Chalmers infrastruktur