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

• Published in: Journal of intelligent & robotic systems Vol. 83; no. 2; pp. 205 - 218
• Main Authors: Jamisola, Rodrigo S., Kormushev, Petar S., Roberts, Rodney G., Caldwell, Darwin G.
• Format: Journal Article
• Language: English
• Published: Dordrecht Springer Netherlands 01-08-2016; Springer Nature B.V
• Subjects: Artificial Intelligence; Control; Dynamic models; Dynamical systems; Dynamics; Electrical Engineering; Engineering; Jacobians; Manipulators; Mechanical Engineering; Mechatronics; Robot arms; Robotics; Robots; Task space; Modular dynamics; Combined manipulators; Chain-cleaning task; Wrench transformation matrix; Modular relative Jacobian; Dual-arm KUKA; Dual-arms
• ISSN: 0921-0296; 1573-0409
• DOI: 10.1007/s10846-016-0361-0

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.