Relative Impedance Control for Dual-Arm Robots Performing Asymmetric Bimanual Tasks | IEEE Journals & Magazine | IEEE Xplore

Relative Impedance Control for Dual-Arm Robots Performing Asymmetric Bimanual Tasks


Abstract:

This paper presents a method of implementing impedance control (with inertia, damping, and stiffness terms) on a dual-arm system by using the relative Jacobian technique....Show More

Abstract:

This paper presents a method of implementing impedance control (with inertia, damping, and stiffness terms) on a dual-arm system by using the relative Jacobian technique. The proposed method significantly simplifies the control implementation because the dual arm is treated as a single manipulator, whose end-effector motion is defined by the relative motion between the two end effectors. As a result, task description becomes simpler and more intuitive when specifying the desired impedance and the desired trajectories. This is the basis for the relative impedance control. In addition, the use of time-delay estimation enhances ease of implementation of our proposed method to a physical system, which would have been otherwise a very tedious and complicated process.
Published in: IEEE Transactions on Industrial Electronics ( Volume: 61, Issue: 7, July 2014)
Page(s): 3786 - 3796
Date of Publication: 04 June 2013

ISSN Information:


References

References is not available for this document.