Modular relative Jacobian for dual-arms and the wrench transformation matrix

Jamisola, Rodrigo S.; Kormushev, Petar; Caldwell, Darwin G.; Ibikunle, F.

doi:10.1109/iccis.2015.7274617

Cited by 14 publications

(8 citation statements)

References 24 publications

(23 reference statements)

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“…Different ways to derive the relative Jacobian has been illustrated in [5], [12] and [17]. The present work applies the procedure presented in [12].…”

Section: B Relative Jacobian and Manipulabilitymentioning

confidence: 99%

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A global approach to manipulability optimisation for a dual-arm manipulator

Faroni

Beschi

Visioli

et al. 2016

2016 IEEE 21st International Conference on Emerging Technologies and Factory Automation (ETFA)

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In this paper, we present a new approach to manipulability maximisation for a dual-arm manipulator, which takes into account the manipulability of the overall task. This method tries to overcome the drawbacks given by traditional approaches, which optimise the manipulability of the local configuration of the manipulator, but do not take into account the rest of the task, even though it is known a priori. In this way, it is possible to improve the average manipulability index over the task. The method is applied to a dual-arm system, wherein the task is expressed in terms of relative poses between the end-effectors. For this reason, the kinematic of the system is solved by means of the relative Jacobian

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“…Different ways to derive the relative Jacobian has been illustrated in [5], [12] and [17]. The present work applies the procedure presented in [12].…”

Section: B Relative Jacobian and Manipulabilitymentioning

confidence: 99%

“…As shown in Section II-B, this allows the reduction of the dual-arm system to a single-armlike manipulator. In this way, the manipulability ellipsoids may be directly derived from the so-called relative Jacobian (see [12]). This strategy has been applied, for instance, in [2] and [13].…”

Section: Introductionmentioning

confidence: 99%

A global approach to manipulability optimisation for a dual-arm manipulator

Faroni

Beschi

Visioli

et al. 2016

2016 IEEE 21st International Conference on Emerging Technologies and Factory Automation (ETFA)

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“…relative Jacobian of dual-arm robots A and B 4 to those frames. From the figure, we state the following conventions for the Jacobians of the standalone manipulators.…”

Section: Naming Convention For Symbolsmentioning

confidence: 99%

“…In a new derivation of a modular relative Jacobian for dualarms [3], a wrench transformation matrix was revealed that was not present or was not explicitly expressed in the previous relative Jacobians. Further studies shown in [4] highlighted the effects of the omission of the wrench transformation matrix on the exerted forces and moments at the dual-arm end-effectors, such that at certain configurations, its omission lead to non-contact for task that requires contact all the time. Asymmetric bimanual task was shown [5] for dual-arm performing at writing task using a relative Jacobian.…”

Section: Introductionmentioning

confidence: 99%

Investigating Task Prioritization and Holistic Coordination Using Relative Jacobian for Combined 3-Arm Cooperating Parallel Manipulators

Jamisola¹,

Ibikunle²

2016

J. Adv. Comput. Intell. Intell. Inform.

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A new modular relative Jacobian formulation for single end-effector control of combined 3-arm cooperating parallel manipulators is derived. It is based on a previous method of derivation for dual-arm robots, with the same approach of modularity and single end-effector control for combined manipulators. This paper will present this new formulation, as well as investigate task prioritization scheme to verify the claim that a single end-effector controller of combined manipulators will indeed implement a strict task prioritization, by intentionally adding more tasks. In addition, this paper will investigate a claim that the holistic approach to control of combined manipulators affords easier control coordination of each of the stand-alone components. Switching control from an individual manipulator control in the null space to relative control in the tasks space is shown to investigate the smoothness of task execution during switching. Simulation results using Gazebo 2.2.5 running in Ubuntu 14.04 is shown.

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“…A more compact modular relative Jacobian was first shown n [10], which reveals a wrench transformation matrix that was not present or was not explicitly expressed in the previous relative Jacobians. It was further shown that omission of the wrench transformation matrix can affect the performance of the dual-arm, including the forces and moments exerted at the endeffectors [11]. The concept of a relative Jacobian was [13].…”

Section: Introductionmentioning

confidence: 99%

Modular Relative Jacobian for Combined 3-Arm Parallel Manipulators

Jamisola¹,

Mastalli

Ibikunle

2016

IJMERR

Self Cite

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This work presents a new formulation of a modular relative Jacobian used to control combined manipulators as a single manipulator with a single effector. In particular, this modular relative Jacobian is designed for 3-arm parallel manipulators. It is called a relative Jacobian because it is expressed relative to the reference frames at the manipulator end-effectors. It is modular because it uses the existing information of each standalone manipulator component to arrive at the necessary expressions for the combined system. This work is part of a series of studies to express a single end-effector control of combined manipulators, in parallel as well as other types of base configurations. This holistic approach of controlling combined manipulators affords a drastic increase of the null-space dimension and the convenience to use all the principles of controlling a single manipulator for the resulting combined system. Derivation of the modular relative Jacobian for a 3-arm parallel manipulator is shown, together will simulation results.  Index Terms-modular kinematics, 3-arm parallel manipulators, single end-effector control, relative jacobian

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Modular relative Jacobian for dual-arms and the wrench transformation matrix

Cited by 14 publications

References 24 publications

A global approach to manipulability optimisation for a dual-arm manipulator

A global approach to manipulability optimisation for a dual-arm manipulator

Investigating Task Prioritization and Holistic Coordination Using Relative Jacobian for Combined 3-Arm Cooperating Parallel Manipulators

Modular Relative Jacobian for Combined 3-Arm Parallel Manipulators

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