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Control Strategies Using the Extended Cooperative Dual Task-Space

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Towards Autonomous Robotic Systems (TAROS 2024)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 15052))

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Abstract

An existing extension of the Cooperative Task Space is reformulated in the dual quaternion domain to form the Extended Cooperative Dual Task Space (ECDTS).This representation allows for the description of both uncoordinated and coordinated cooperative manipulation tasks into a unified formulation free of representational singularities. Additionally, a general framework is proposed to describe cooperative manipulation tasks considering the required manipulation mode in the ECDTS, the desired control objective, and additional task constraints. Vector Field Inequalities (VFIs) and geometric primitives such as Plücker lines and planes are used to define such constraints. Simulations of a task from each manipulation mode are carried out and show the generality of the proposed framework and applicability of the ECDTS formulation.

This project was funded by EPSRC through the CRADLE programme (EP/X02489X/1)and by the Royal Academy of Engineering under the Research Chairs and Senior Research Fellowships programme.

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Notes

  1. 1.

    https://www.coppeliarobotics.com/coppeliaSim.

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Authors and Affiliations

  1. Manchester Centre for Robotics and AI, University of Manchester, Oxford Road, Manchester, M13 9PL, UK

    Seyonne Leslie-Dalley, Bruno Vilhena Adorno & Keir Groves

Authors
  1. Seyonne Leslie-Dalley
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  2. Bruno Vilhena Adorno
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  3. Keir Groves
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Corresponding author

Correspondence to Seyonne Leslie-Dalley .

Editor information

Editors and Affiliations

  1. Department of Electronic and Electrical Engineering, Brunel University London, London, UK

    M. Nazmul Huda

  2. Department of Mechanical and Aerospace Engineering, Brunel University London, Uxbridge, UK

    Mingfeng Wang

  3. Department of Electronic and Electrical Engineering, Brunel University London, London, UK

    Tatiana Kalganova

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Leslie-Dalley, S., Adorno, B.V., Groves, K. (2025). Control Strategies Using the Extended Cooperative Dual Task-Space. In: Huda, M.N., Wang, M., Kalganova, T. (eds) Towards Autonomous Robotic Systems. TAROS 2024. Lecture Notes in Computer Science(), vol 15052. Springer, Cham. https://doi.org/10.1007/978-3-031-72062-8_13

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  • DOI: https://doi.org/10.1007/978-3-031-72062-8_13

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