Task-Space Modular Dynamics for Dual-Arms Expressed through a Relative Jacobian
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 Jac...
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| Veröffentlicht in: | Journal of intelligent & robotic systems 2016-08, Vol.83 (2), p.205-218 |
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| container_title | Journal of intelligent & robotic systems |
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| creator | Jamisola, Rodrigo S. Kormushev, Petar S. Roberts, Rodney G. Caldwell, Darwin G. |
| description | 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. |
| doi_str_mv | 10.1007/s10846-016-0361-0 |
| format | Article |
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A dual-arm KUKA is used in the experimental implementation.</description><subject>Artificial Intelligence</subject><subject>Control</subject><subject>Dynamic models</subject><subject>Dynamical systems</subject><subject>Dynamics</subject><subject>Electrical Engineering</subject><subject>Engineering</subject><subject>Jacobians</subject><subject>Manipulators</subject><subject>Mechanical Engineering</subject><subject>Mechatronics</subject><subject>Robot arms</subject><subject>Robotics</subject><subject>Robots</subject><subject>Task space</subject><issn>0921-0296</issn><issn>1573-0409</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2016</creationdate><recordtype>article</recordtype><sourceid>BENPR</sourceid><recordid>eNp1kEtPwzAMgCMEEmPwA7hF4sIlkEebJsdpjJeGJsHulZumW0dfJC1i_55M5YCQONiWrc-W9SF0yegNozS59YyqSBLKQgjJCD1CExYngtCI6mM0oZqHIdfyFJ15v6OUahXrCVqtwb-Ttw6MxS9tPlTg8N2-gbo0HhdtaAaoyMzVHi--Ome9tznut64dNlsM-NVW0JefFj-DabMSmnN0UkDl7cVPnaL1_WI9fyTL1cPTfLYkRmjek8QUkcosxDSTea40B5FYoUwGYVyILGZWC5VQKQuuswykZVGuleEqB8a4mKLr8Wzn2o_B-j6tS29sVUFj28GnTPE4jhLNo4Be_UF37eCa8FygggYey0QGio2Uca33zhZp58oa3D5lND0YTkfDaTCcHgyHNEV83PGBbTbW_br879I3zFJ9Cw</recordid><startdate>20160801</startdate><enddate>20160801</enddate><creator>Jamisola, Rodrigo S.</creator><creator>Kormushev, Petar S.</creator><creator>Roberts, Rodney G.</creator><creator>Caldwell, Darwin G.</creator><general>Springer Netherlands</general><general>Springer Nature B.V</general><scope>AAYXX</scope><scope>CITATION</scope><scope>3V.</scope><scope>7SC</scope><scope>7SP</scope><scope>7TB</scope><scope>7XB</scope><scope>8AL</scope><scope>8FD</scope><scope>8FE</scope><scope>8FG</scope><scope>8FK</scope><scope>ABJCF</scope><scope>ABUWG</scope><scope>AFKRA</scope><scope>ARAPS</scope><scope>AZQEC</scope><scope>BENPR</scope><scope>BGLVJ</scope><scope>CCPQU</scope><scope>DWQXO</scope><scope>FR3</scope><scope>GNUQQ</scope><scope>HCIFZ</scope><scope>JQ2</scope><scope>K7-</scope><scope>L6V</scope><scope>L7M</scope><scope>L~C</scope><scope>L~D</scope><scope>M0N</scope><scope>M7S</scope><scope>P5Z</scope><scope>P62</scope><scope>PQEST</scope><scope>PQQKQ</scope><scope>PQUKI</scope><scope>PRINS</scope><scope>PTHSS</scope><scope>Q9U</scope><scope>F28</scope></search><sort><creationdate>20160801</creationdate><title>Task-Space Modular Dynamics for Dual-Arms Expressed through a Relative Jacobian</title><author>Jamisola, Rodrigo S. ; 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| subjects | Artificial Intelligence Control Dynamic models Dynamical systems Dynamics Electrical Engineering Engineering Jacobians Manipulators Mechanical Engineering Mechatronics Robot arms Robotics Robots Task space |
| title | Task-Space Modular Dynamics for Dual-Arms Expressed through a Relative Jacobian |
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