Relative task prioritization for dual-arm with multiple, conflicting tasks: Derivation and experiments

Jinoh Lee, Pyung Hun Chang, Rodrigo S. Jamisola

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

10 Citations (Scopus)

Abstract

This paper presents new formulations in task-prioritization for dual-arms with multiple, conflicting tasks and experimental validations. An essential part of the proposed method is the use of relative Jacobian that treats the dual-arm as an equivalent single arm. As a result, three formulations are derived. The first formulation, called relative task prioritization, expresses a task prioritization at the acceleration level for a dual-arm, with multiple tasks, that is controlled as a single manipulator. The second formulation is an impedance control equation that allows direct control of the relative motion and impedance between two end-effectors. Our third formulation is a control law that combines relative task prioritization, impedance control, and time-delay estimation, which contributes to the ease of implementation of our proposed method. In the physical implementation, one arm draws a circle on a plate attached to the other arm in parallel with three subtasks. Then, intentional conflict among subtasks is induced. The experimental results show that when such conflict occurs, the higher priority task is guaranteed an immediate execution without influence from the lower priority task.

Original languageEnglish
Title of host publication2013 IEEE International Conference on Robotics and Automation, ICRA 2013
Pages1928-1933
Number of pages6
DOIs
Publication statusPublished - Nov 14 2013
Event2013 IEEE International Conference on Robotics and Automation, ICRA 2013 - Karlsruhe, Germany
Duration: May 6 2013May 10 2013

Other

Other2013 IEEE International Conference on Robotics and Automation, ICRA 2013
CountryGermany
CityKarlsruhe
Period5/6/135/10/13

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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  • Cite this

    Lee, J., Chang, P. H., & Jamisola, R. S. (2013). Relative task prioritization for dual-arm with multiple, conflicting tasks: Derivation and experiments. In 2013 IEEE International Conference on Robotics and Automation, ICRA 2013 (pp. 1928-1933). [6630833] https://doi.org/10.1109/ICRA.2013.6630833