Task-Based Compliance Control for Bottle Screw Manipulation With a Dual-Arm Robot

In this paper, a novel task-based compliance control approach for a dual-arm robot is presented with a bottle screw task. The presented approach aims at overcoming uncertainties from the object model and contact forces during the bottle screw task. A novel framework is proposed to synthesize the tas...

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Veröffentlicht in:	IEEE transactions on industrial electronics (1982) 2024-02, Vol.71 (2), p.1-9
Hauptverfasser:	Jiao, Chunting, Zhang, Lin, Su, Xiaojie, Huang, Jiangshuai, Bing, Zhenshan, Knoll, Alois
Format:	Artikel
Sprache:	eng
Schlagworte:	Bottle manipulation Compliance Contact force dual-arm manipulation Fasteners fine motion gross motion hybrid control Integrated circuits Mathematical models Motion control Motion planning Planning Robot dynamics Robots Task analysis task-based control Uncertainty
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