Trajectory Planning for the Cooperative Manipulation of a Flexible Structure by Two Differentially-Driven Robots

Weitz, Lesley A.; Doebbler, James; Johnson, Kristen; Hurtado, John E.

doi:10.1007/s10846-009-9350-x

Cited by 1 publication

(1 citation statement)

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“…Both force and motion controllers [17]- [19] are implemented in full relative operational space for both experimental task executions. More recent studies on cooperative manipulation include trajectory planning for manipulation of flexible structure [20], manipulation and transportation of aerial robots [21], [22], decomposition frameworks with unilateral thrusters [23], and cooperative dual-arm mobile manipulation [24].…”

Section: Ja Jbmentioning

confidence: 99%

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

Jamisola

Kormushev

Caldwell

et al. 2015

2015 IEEE 7th International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE Conference on Robotics, Automation

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Abstract-A modular relative Jacobian is recently derived and is expressed in terms of the individual Jacobians of stand-alone manipulators. It includes a wrench transformation matrix, which was not shown in earlier expressions. This paper is an experimental extension of that recent work, which showed that at higher angular end-effector velocities the contribution of the wrench transformation matrix cannot be ignored. In this work, we investigate the dual-arm force control performance, without necessarily driving the end-effectors at higher angular velocities. We compare experimental results for two cases: modular relative Jacobian with and without the wrench transformation matrix. The experimental setup is a dual-arm system consisting of two KUKA LWR robots. Two experimental tasks are used: relative end-effector motion and coordinated independent tasks, where a force controller is implemented in both tasks. Furthermore, we show in an experimental design that the use of a relative Jacobian affords less accurate task specifications for a highly complicated task requirement for both end-effectors of the dual-arm. Experimental results on the force control performance are compared and analyzed.

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