Dual-arm cooperative manipulation under joint limit constraints

Abstract

Cooperative manipulation of a rigid object is challenging and represents an interesting and active research area, especially when these robots are subject to joint and task prioritization constraints. In cooperative manipulation, a primary task is to maintain the coordination of motions, to avoid severe damage caused by the violation of kinematic constraints imposed by the closed chain mechanism. This paper proposes a kinematic controller for dual-arm coopera

Dual-Arm Relative Tasks Performance Using Sparse Kinematic Control

“…plugging (12) into (11) yields the least square solution for the joint velocity:q = J + (ẋ * + Ke) .…”

“…Taking into account joint limit constraints in dual-arm manipulation has been addressed in [12]. In that paper, joint limits avoidance is integrated in a prioritized hierarchy of tasks, with priority depending on whether the system is redundant or not.…”

“…Exploiting redundancy for dual-arm systems has been the topic of several studies, in which available DOF were used for obstacle avoidance [9], to increase manipulability [10] or to satisfy joint constraints [11], [12]. These approaches make use of redundancy by defining a hierarchic prioritized task architecture based on the projection on the null space of the Jacobian [13].…”

Dual-arm cooperative manipulation based on differential evolution

“…Tracking and position error results for Baxter arms on sinusoidal trajectory using the initial joint configuration in equation (13). (a) and (b) show the tracking results, where (p 1 ae , p 1 be ) and (p 2 ae , p 2 be ) are the results for the proposed approach and the conventional method, respectively. The desired trajectory is given by p à ae .…”

“…Generally, a single-arm system is defined as kinematically redundant when its degree of motion n (number of joints) is higher than the number of variables m that are necessary to perform a given task (dimension of the task), this is n > m. 5 Since a dual-arm manipulation of a rigid object form a closed kinematic chain, then dual-arm systems are considered kinematically redundant. 1,8 Redundancy solutions admit several joints configuration to reach the same desired end-effector pose, in consequence, the inverse kinematics becomes difficult to solve. A convenient approach to solve this problem is global optimization of a specific objective function.…”