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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Communication dans un congrès
IROS'10: International Conference on Intelligent Robots and Systems, Oct 2010, Taipei, Taiwan. IEEE, pp.3955-3960, 2010, 〈http://www.iros2010.org.tw/〉. 〈10.1109/IROS.2010.5650218〉
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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. IEEE, pp.3955-3960, 2010, 〈http://www.iros2010.org.tw/〉. 〈10.1109/IROS.2010.5650218〉. 〈lirmm-00535889〉

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