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Conference Papers Year : 2010

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.

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Dates and versions

lirmm-00535889 , version 1 (08-12-2010)

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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⟩
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