In this paper, a kinematic model for motion coordination and control of a redundant robotic dual-arm/hand system is derived, which allows to compute the object pose from the joint variables of each arm and each finger as well as from a suitable set of contact variables. This model is used to design a two-stage cascade controller scheme to achieve a desired object motion and maintain desired normal contact forces applied to the object. Several secondary tasks are accomplished through a prioritized task sequencing management of the whole system redundancy. A simulation case study is presented to demonstrate the effectiveness of the proposed approach.
Kinematic control with force feedback for a redundant bimanual manipulation system / F., Caccavale; Lippiello, Vincenzo; G., Muscio; F., Pierri; Ruggiero, Fabio; Villani, Luigi. - (2011), pp. 4194-4200. (Intervento presentato al convegno IEEE/RSJ International Conference on Intelligent Robots and Systems tenutosi a San Francisco, CA nel September) [10.109/IROS.2011.6048549].
Kinematic control with force feedback for a redundant bimanual manipulation system
LIPPIELLO, VINCENZO;RUGGIERO, FABIO;VILLANI, LUIGI
2011
Abstract
In this paper, a kinematic model for motion coordination and control of a redundant robotic dual-arm/hand system is derived, which allows to compute the object pose from the joint variables of each arm and each finger as well as from a suitable set of contact variables. This model is used to design a two-stage cascade controller scheme to achieve a desired object motion and maintain desired normal contact forces applied to the object. Several secondary tasks are accomplished through a prioritized task sequencing management of the whole system redundancy. A simulation case study is presented to demonstrate the effectiveness of the proposed approach.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
