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Abstract / Description of output
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.
|Title of host publication||2018 IEEE/RSJ International Conference on Intelligent Robots and Systems|
|Place of Publication||Madrid, Spain|
|Publisher||Institute of Electrical and Electronics Engineers (IEEE)|
|Number of pages||8|
|Publication status||Published - 7 Jan 2019|
|Event||2018 IEEE/RSJ International Conference on Intelligent Robots and Systems - Madrid, Spain|
Duration: 1 Oct 2018 → 5 Oct 2018
|Conference||2018 IEEE/RSJ International Conference on Intelligent Robots and Systems|
|Abbreviated title||IROS 2018|
|Period||1/10/18 → 5/10/18|
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- 2 Finished
1/04/17 → 31/12/20