Dual-Arm Relative Tasks Performance Using Sparse Kinematic Control

Abstract

To make production lines more flexible, dual-arm robots are good candidates to be deployed in autonomous assembly units. In this paper, we propose a sparse kinematic control strategy, that minimizes the number of joints actuated for a coordinated task between two arms. The control strategy is based on a hierarchical sparse QP architecture. We present experimental results that highlight the capability of this architecture to produce sparser motions (for an assembly task) than those obtained with standard controllers.

A collaborative robot for the factory of the future: BAZAR

“…In [67] we propose a new approach to exploit redundancy during bimanual relative operations. Our strategy aims at generating a parsimonious solution, i.e., one that actuates the minimal number of joints needed to fulfill the task (see Fig.…”

“…In [67], we propose a hierarchical parsimonious QP framework that integrates (9) as the primary task and a joint limits avoidance strategy as lower priority task. We denote as QP1 the optimization process for solving the primary task andq 1 the corresponding solution:…”

“…Here,q r is a joint limit repulsive vector (see [67] for details). To satisfy the primary task without degrading its performance, we added the equality constraint Jq = 0.…”

Innovative Mobile Manipulator Solution for Modern Flexible Manufacturing Processes

“…Dual arm manipulation provides much greater flexibility but requires the ability to simultaneously solve the two arms' kinematics to achieve synchronous and smooth movements. Based on our previous research in this subject [31], a dual arm system composed of two UR10 collaborative robotic arms was chosen. With a payload of 10 Kg each arm, a combined payload of 20 Kg is achieved, greatly increasing the manipulation capabilities of the system, unlike other double-arm solutions such as the Baxter robot that are limited due to their low payload.…”

Inverse Kinematics of Redundant Manipulators With Dynamic Bounds on Joint Movements

“…Extra degrees of freedom can be exploited to endow the robot with desired secondary behaviors. To name a few examples, the redundancy can be exploited to: maximize the manipulability along selected axis [1], [2], keep the joint configuration far from the mechanical limits [3], mimic anthropomorphic motion [4], activate the least number of actuators [5], avoid collisions [6], [7], or maximize the distance from obstacles [8].…”