Dual-arm Coordinated Motion Planning and Compliance Control for Capturing Moving Objects with Large Momentum

Lei Yan, Yiming Yang, Wenfu Xu, Sethu Vijayakumar

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Capturing a moving object with large momentum by a dual-arm robot is especially challenging because of the requirement of dual-arm coordinated motion planning for tracking the moving object, and the operational force control for contact and momentum transfer. In this paper, we present a dual-arm coordinated motion planning and compliance control method with a unique null-space projected relative Jacobian and relative operational force between the two arms. The proposed method is able to plan dual-arm capturing motion and control the capturing force without disturbing the tracking motion. We have also adopted a direct collocation trajectory optimization method to generate optimal trajectory to decrease the object’s momentum with minimum effort. Simulation and experiment of dual-arm robots picking up a moving box on a mobile platform are carried out to verify the proposed method.
Original languageEnglish
Title of host publication2018 IEEE/RSJ International Conference on Intelligent Robots and Systems
Place of PublicationMadrid, Spain
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Pages7137-7144
Number of pages8
ISBN (Electronic)978-1-5386-8094-0
ISBN (Print)978-1-5386-8095-7
DOIs
Publication statusPublished - 7 Jan 2019
Event2018 IEEE/RSJ International Conference on Intelligent Robots and Systems - Madrid, Spain
Duration: 1 Oct 20185 Oct 2018
https://www.iros2018.org/

Publication series

Name
PublisherIEEE
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

Conference2018 IEEE/RSJ International Conference on Intelligent Robots and Systems
Abbreviated titleIROS 2018
CountrySpain
CityMadrid
Period1/10/185/10/18
Internet address

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