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2015
IEEE

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

4 years 3 months ago
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 a...
Rodrigo S. Jamisola, Petar Kormushev, Darwin G. Ca
Added 17 Apr 2016
Updated 17 Apr 2016
Type Journal
Year 2015
Where RAM
Authors Rodrigo S. Jamisola, Petar Kormushev, Darwin G. Caldwell, Frank Ibikunle
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