Dual Position Control Strategies using the Cooperative Dual Task-Space Framework

Abstract : We propose a set of control strategies for performing two arm manipulation with the goal of simplifying the task definition. In order to develop these strategies we propose a new representation, derived from the cooperative task-space, in the dual quaternion domain. The result is a compact and "singularity free" representation for two arm systems, named cooperative dual task-space. All the proposed control strategies share the same general scheme and are derived by using an analytical approach. Moreover, the mathematical treatment is given in a coherent and systematic fashion, and thus other strategies may be derived using the same argument. Experimental results show the effectiveness and usefulness of the cooperative dual task-space framework and the proposed control strategies.
Document type :
Conference papers
Complete list of metadatas

Cited literature [17 references]  Display  Hide  Download

https://hal-lirmm.ccsd.cnrs.fr/lirmm-00535889
Contributor : Bruno Adorno <>
Submitted on : Wednesday, December 8, 2010 - 5:08:35 PM
Last modification on : Thursday, February 28, 2019 - 2:38:23 PM
Long-term archiving on: Thursday, March 10, 2011 - 11:08:45 AM

File

0646_Dual_position_control.pdf
Files produced by the author(s)

Identifiers

Collections

Citation

Bruno Vilhena Adorno, Philippe Fraisse, Sébastien Druon. Dual Position Control Strategies using the Cooperative Dual Task-Space Framework. IROS'10: International Conference on Intelligent Robots and Systems, Oct 2010, Taipei, Taiwan. pp.3955-3960, ⟨10.1109/IROS.2010.5650218⟩. ⟨lirmm-00535889⟩

Share

Metrics

Record views

296

Files downloads

681