Dual-Arm Relative Tasks Performance Using Sparse Kinematic Control

To make production lines more flexible, dual-arm robots are good candidates to be deployed in autonomous assembly units. In this paper, we propose a sparse kinematic control strategy, that minimizes the number of joints actuated for a coordinated task between two arms. The control strategy is based...

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Bibliographic Details
Main Authors: Tarbouriech, Sonny, Navarro, Benjamin, Fraisse, Philippe, Crosnier, Andre, Cherubini, Andrea, Salle, Damien
Format: Conference Proceeding
Language:English
Subjects:
Aerospace electronics
Jacobian matrices
Kinematics
Manipulators
Robot kinematics
Task analysis
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Summary:To make production lines more flexible, dual-arm robots are good candidates to be deployed in autonomous assembly units. In this paper, we propose a sparse kinematic control strategy, that minimizes the number of joints actuated for a coordinated task between two arms. The control strategy is based on a hierarchical sparse QP architecture. We present experimental results that highlight the capability of this architecture to produce sparser motions (for an assembly task) than those obtained with standard controllers.
ISSN:2153-0866
DOI:10.1109/IROS.2018.8594320