Control of a lower mobility dual arm system

P. Long, W. Khalil, S. Caro

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

3 Citations (Scopus)

Abstract

This paper studies the kinematic modeling and control of two cooperative manipulators. The system is composed of the two arms of the humanoid Nao robot of Aldebaran. The serial structure of each arm has five degrees of freedom, in the closed chain formulation when transporting a common object, it has 4-DOF. The kinematic and dynamics representing the closed chain system is studied. A new control scheme demonstrates how the cooperative task space can be combined with a minimum representation of the task to control the 4 DOF of object. Furthermore by modeling the object grasp as a passive joint, we show that all 6-DOF of the object can be controlled.

Original languageEnglish
Title of host publicationSYROCO 2012 Preprints - 10th IFAC Symposium on Robot Control
PublisherIFAC Secretariat
Pages307-312
Number of pages6
Edition22
ISBN (Print)9783902823113
DOIs
Publication statusPublished - 2012
Externally publishedYes
Event10th IFAC Symposium on Robot Control, SYROCO 2012 - Dubrovnik, Croatia
Duration: 5 Sep 20127 Sep 2012

Publication series

NameIFAC Proceedings Volumes (IFAC-PapersOnline)
Number22
Volume45
ISSN (Print)1474-6670

Conference

Conference10th IFAC Symposium on Robot Control, SYROCO 2012
Country/TerritoryCroatia
CityDubrovnik
Period5/09/127/09/12

Keywords

  • Co-operative control
  • Robot control
  • Robotic manipulators

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