A quaternion-based impedance control framework is pre- sented which ensures geometric consistency for the execu- tion of six-DOF interaction tasks. This is applied to coopera- tive manipulation of an object by two robots. Both loose and tight cooperative control schemes are designed, and the the- oretical findings are validated in experiments on a dual-robot industrial setup.
Quaternion-based impedance control for dual-robot cooperation / F., Caccavale; C., Natale; Siciliano, Bruno; Villani, Luigi. - STAMPA. - (2000), pp. 45-52.
Quaternion-based impedance control for dual-robot cooperation
SICILIANO, BRUNO;VILLANI, LUIGI
2000
Abstract
A quaternion-based impedance control framework is pre- sented which ensures geometric consistency for the execu- tion of six-DOF interaction tasks. This is applied to coopera- tive manipulation of an object by two robots. Both loose and tight cooperative control schemes are designed, and the the- oretical findings are validated in experiments on a dual-robot industrial setup.File in questo prodotto:
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