Task-Space Modular Dynamics for Dual-Arms Expressed through a Relative Jacobian

Rodrigo S. Jamisola, Petar S. Kormushev, Rodney G. Roberts, Darwin G. Caldwell

Research output: Contribution to journalArticle

9 Citations (Scopus)


This paper presents modular dynamics for dual-arms, expressed in terms of the kinematics and dynamics of each of the stand-alone manipulators. The two arms are controlled as a single manipulator in the task space that is relative to the two end-effectors of the dual-arm robot. A modular relative Jacobian, derived from a previous work, is used which is expressed in terms of the stand-alone manipulator Jacobians. The task space inertia is expressed in terms of the Jacobians and dynamics of each of the stand-alone manipulators. When manipulators are combined and controlled as a single manipulator, as in the case of dual-arms, our proposed approach will not require an entirely new dynamics model for the resulting combined manipulator. But one will use the existing Jacobians and dynamics model for each of the stand-alone manipulators to come up with the dynamics model of the combined manipulator. A dual-arm KUKA is used in the experimental implementation.

Original languageEnglish
Pages (from-to)205-218
Number of pages14
JournalJournal of Intelligent and Robotic Systems: Theory and Applications
Issue number2
Publication statusPublished - Aug 1 2016


All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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