Modular relative Jacobian for dual-arms and the wrench transformation matrix

Rodrigo S. Jamisola, Petar Kormushev, Darwin G. Caldwell, Frank Ibikunle

Research output: Chapter in Book/Report/Conference proceedingConference contribution

8 Citations (Scopus)

Abstract

A modular relative Jacobian is recently derived and is expressed in terms of the individual Jacobians of stand-alone manipulators. It includes a wrench transformation matrix, which was not shown in earlier expressions. This paper is an experimental extension of that recent work, which showed that at higher angular end-effector velocities the contribution of the wrench transformation matrix cannot be ignored. In this work, we investigate the dual-arm force control performance, without necessarily driving the end-effectors at higher angular velocities. We compare experimental results for two cases: modular relative Jacobian with and without the wrench transformation matrix. The experimental setup is a dual-arm system consisting of two KUKA LWR robots. Two experimental tasks are used: relative end-effector motion and coordinated independent tasks, where a force controller is implemented in both tasks. Furthermore, we show in an experimental design that the use of a relative Jacobian affords less accurate task specifications for a highly complicated task requirement for both end-effectors of the dual-arm. Experimental results on the force control performance are compared and analyzed.

Original languageEnglish
Title of host publicationProceedings of the 2015 7th IEEE International Conference on Cybernetics and Intelligent Systems, CIS 2015 and Robotics, Automation and Mechatronics, RAM 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages181-186
Number of pages6
ISBN (Electronic)9781467373364
DOIs
Publication statusPublished - Sep 23 2015
Event7th IEEE International Conference on Cybernetics and Intelligent Systems, CIS 2015 and the 7th IEEE International Conference on Robotics, Automation and Mechatronics, RAM 2015 - Siem Reap, Cambodia
Duration: Jul 15 2015Jul 17 2015

Other

Other7th IEEE International Conference on Cybernetics and Intelligent Systems, CIS 2015 and the 7th IEEE International Conference on Robotics, Automation and Mechatronics, RAM 2015
CountryCambodia
CitySiem Reap
Period7/15/157/17/15

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Control and Systems Engineering

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    Jamisola, R. S., Kormushev, P., Caldwell, D. G., & Ibikunle, F. (2015). Modular relative Jacobian for dual-arms and the wrench transformation matrix. In Proceedings of the 2015 7th IEEE International Conference on Cybernetics and Intelligent Systems, CIS 2015 and Robotics, Automation and Mechatronics, RAM 2015 (pp. 181-186). [7274617] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICCIS.2015.7274617