Dual position control strategies using the cooperative dual task-space framework

Abstract

We propose a set of control strategies for performing two arm manipulation with the goal of simplifying the task definition. In order to develop these strategies we propose a new representation, derived from the cooperative task-space, in the dual quaternion domain. The result is a compact and "singularity free" representation for two arm systems, named cooperative dual task-space. All the proposed control strategies share the same general scheme and are derived by using an analytical approach. Moreover, the mathematical treatment is given in a coherent and systematic fashion, and thus other strategies may be derived using the same argument. Experimental results show the effectiveness and usefulness of the cooperative dual task-space framework and the proposed control strategies.

Dual arm manipulation—A survey

“…The regulators can be also combined with internal force feedback and can be regarded as hybrid force/position controllers since they exploit the kineto-static filtering of the control actions. Recently, kinematic control for performing dual-arm manipulation using dual quaternions has been proposed [88]. The dual quaternions have been used to define the "cooperative dual task-space" since they simultaneously describe the position and the orientation of a rigid body.…”

Adaptive path planning for steerable needles using duty-cycling

“…) n] and t = [0, t] are the respective rotation and translation quaternions of the needle tip frame with respect to the world frame [18].…”

Towards a cooperative framework for interactive manipulation involving a human and a humanoid

“…The human/robot cooperation in terms of arms' coordination can be described by using the cooperative dual taskspace representation [11]. In this approach, both the robot and the human arms are considered as manipulators sharing the same workspace and their end-effector configurations are represented by the dual quaternions q R and q H , respectively.…”