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

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.

[1]  Christopher L. Lewis.  Trajectory generation for two robots cooperating to perform a task , 1996, Proceedings of IEEE International Conference on Robotics and Automation.

[2]  Shu-bin Li,et al.  Dynamic Analyses of Urban Expressway Network with Mesoscopic Traffic Flow Model Integrated Variable Speed Limits , 2014 .

[3]  L. Ribeiro.  SCREW-BASED RELATIVE JACOBIAN FOR MANIPULATORS COOPERATING IN A TASK , 2007 .

[4]  Rodrigo S. Jamisola,et al.  A more compact expression of relative Jacobian based on individual manipulator Jacobians , 2015, Robotics Auton. Syst..

[5]  Raúl Suárez,et al.  Planning manipulation movements of a dual-arm system considering obstacle removing , 2014, Robotics Auton. Syst..

[6]  Pyung Hun Chang,et al.  Relative Impedance Control for Dual-Arm Robots Performing Asymmetric Bimanual Tasks , 2014, IEEE Transactions on Industrial Electronics.

[7]  Thang Nguyen,et al.  Intelligent tracking control of a dual-arm wheeled mobile manipulator with dynamic uncertainties , 2013 .

[8]  Mark W. Spong,et al.  Decomposition frameworks for cooperative manipulation of a planar rigid body with multiple unilateral thrusters , 2015 .

[9]  Danica Kragic,et al.  Dual arm manipulation - A survey , 2012, Robotics Auton. Syst..

[10]  C.L. Lewis,et al.  Trajectory generation for cooperating robots , 1990, 1990 IEEE International Conference on Systems Engineering.

[11]  Bruno Siciliano,et al.  Task-Oriented Kinematic Control of Two Cooperative 6-DOF Manipulators , 1993, 1993 American Control Conference.

[12]  Akira Nakamura,et al.  Pick and place planning for dual-arm manipulators , 2012, 2012 IEEE International Conference on Robotics and Automation.

[13]  Antonio Bicchi,et al.  Haptic exploration of unknown surfaces with discontinuities , 2014, 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[14]  Sandra Hirche,et al.  An impedance-based control architecture for multi-robot cooperative dual-arm mobile manipulation , 2013, 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[15]  Lesley A. Weitz,et al.  Trajectory Planning for the Cooperative Manipulation of a Flexible Structure by Two Differentially-Driven Robots , 2010, J. Intell. Robotic Syst..

[16]  Anthony A. Maciejewski,et al.  Failure-tolerant path planning for kinematically redundant manipulators anticipating locked-joint failures , 2006, IEEE Transactions on Robotics.

[17]  Oussama Khatib,et al.  Compliant motion using a mobile manipulator: an operational space formulation approach to aircraft canopy polishing , 2005, Adv. Robotics.

[18]  Joel W. Burdick,et al.  Dual arm estimation for coordinated bimanual manipulation , 2013, 2013 IEEE International Conference on Robotics and Automation.

[19]  Maxim Likhachev,et al.  Search-based planning for dual-arm manipulation with upright orientation constraints , 2012, 2012 IEEE International Conference on Robotics and Automation.

[20]  Beno Benhabib,et al.  A multi-arm robotic system for optimal sculpting , 2008 .

[21]  Vijay Kumar,et al.  Planning and control for cooperative manipulation and transportation with aerial robots , 2011, Int. J. Robotics Res..

[22]  Vijay Kumar,et al.  Cooperative manipulation and transportation with aerial robots , 2009, Auton. Robots.

[23]  George W. Irwin,et al.  Redundancy resolution and obstacle avoidance for cooperative industrial robots , 1999, J. Field Robotics.

[24]  Sungchul Kang,et al.  Two-arm cooperative assembly using force-guided control with adaptive accommodation , 1999, Proceedings 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human and Environment Friendly Robots with High Intelligence and Emotional Quotients (Cat. No.99CH36289).

[25]  Vincenzo Lippiello,et al.  Grasp planning and parallel control of a redundant dual-arm/hand manipulation system , 2013, Robotica.