Virtual Mechanism Approach for Dual-arm Manipulation

Nejc Likar, Bojan Nemec, Leon Žlajpah

2012

Abstract

We propose a novel control approach for cooperative dual-arm object manipulation. Our scheme has three typical features: (1) the two arms with the object together form a new kinematic chain, where the base of the second arm is the end-effector of the new robot; (2) the object between the robots is defined as a virtual mechanism, therefore manipulating the object is accomplished by controlling the virtual mechanism; (3) the proposed scheme allows cooperative dual-arm systems performing a task while moving on mobile platforms. The proposed algorithm is verified with experiments on a dual-arm system with Kuka LWR robots, and simulations with 2 different robots: Kuka LWR on a fixed support and Mitsubishi PA10 robot on a mobile platform Nomad XR400.

References

  1. Caccavale, F., Chiacchio, P., and Chiaverini, S. (2000). Task-space regulation of cooperative manipulators. Automatica, 36(6):879-887.
  2. Chiacchio, P. and Chiaverini, S. (1998). Complex robotic systems. Springer-Verlag.
  3. Khatib, O., Yokoi, K., Chang, K., Ruspini, D., Holmberg, R., and Casal, A. (1996). Vehicle/arm coordination and multiple mobile manipulator decentralized cooperation. In Intelligent Robots and Systems 7896, IROS 96, Proceedings of the 1996 IEEE/RSJ International Conference on, volume 2, pages 546 -553 vol.2.
  4. Nemec, B. and Z? lajpah, L. (2009). Contemporary Robotics, Challenges and Solutions: Automatic Trajectory Generation using Redundancy Resolution Scheme Based on Virtual Mechanism, pages 1-18. In-Teh.
  5. Nemec, B., Z?lajpah, L., and Omrc?en, D. (2007). Comparison of null-space and minimal null-space control algorithms. Robotica, 25(5):511-520.
  6. Osumi, H. (1996). Cooperative strategy for multiple mobile manipulators. In Intelligent Robots and Systems 7896, IROS 96, Proceedings of the 1996 IEEE/RSJ International Conference on, volume 2, pages 554 -559 vol.2.
  7. Schreiber, G., Stemmer, A., and Bischoff, R. (2010). The fast research interface for the kuka lightweight robot. In ICRA 2010 Workshop on Innovative Robot Control Architectures for Demanding (Research) Applications, pages 15-21.
  8. Spong, M. W., Hutchinson, S., and Vidyasagar, M. (2005). Robot Dynamics and Control: Velocity kinematics - the manipulator Jacobian, pages 125-162. John Wiley and Sons, Inc.
  9. Uchiyama, M. and Dauchez, P. (1992). Symmetric kinematic formulation and non-master/slave coordinated control of two-arm robots. Advanced Robotics, 7(4):361-383.
  10. 10 15 20 25 30 35 40 Perturbations applied on right robot arm 10 15 20 25 30 35 40 Measured external force on object
Download


Paper Citation


in Harvard Style

Likar N., Nemec B. and Žlajpah L. (2012). Virtual Mechanism Approach for Dual-arm Manipulation . In Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8565-22-8, pages 321-326. DOI: 10.5220/0004046203210326


in Bibtex Style

@conference{icinco12,
author={Nejc Likar and Bojan Nemec and Leon Žlajpah},
title={Virtual Mechanism Approach for Dual-arm Manipulation},
booktitle={Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2012},
pages={321-326},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004046203210326},
isbn={978-989-8565-22-8},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Virtual Mechanism Approach for Dual-arm Manipulation
SN - 978-989-8565-22-8
AU - Likar N.
AU - Nemec B.
AU - Žlajpah L.
PY - 2012
SP - 321
EP - 326
DO - 10.5220/0004046203210326