TY - GEN
T1 - Modular relative Jacobian for dual-arms and the wrench transformation matrix
AU - Jamisola, Rodrigo S.
AU - Kormushev, Petar
AU - Caldwell, Darwin G.
AU - Ibikunle, Frank
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015/9/23
Y1 - 2015/9/23
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84958252951&partnerID=8YFLogxK
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U2 - 10.1109/ICCIS.2015.7274617
DO - 10.1109/ICCIS.2015.7274617
M3 - Conference contribution
AN - SCOPUS:84958252951
T3 - Proceedings of the 2015 7th IEEE International Conference on Cybernetics and Intelligent Systems, CIS 2015 and Robotics, Automation and Mechatronics, RAM 2015
SP - 181
EP - 186
BT - Proceedings of the 2015 7th IEEE International Conference on Cybernetics and Intelligent Systems, CIS 2015 and Robotics, Automation and Mechatronics, RAM 2015
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 7th IEEE International Conference on Cybernetics and Intelligent Systems, CIS 2015 and the 7th IEEE International Conference on Robotics, Automation and Mechatronics, RAM 2015
Y2 - 15 July 2015 through 17 July 2015
ER -