Cited 31 time in webofscience Cited 34 time in scopus

Relative Impedance Control for Dual-Arm Robots Performing Asymmetric Bimanual Tasks

Title
Relative Impedance Control for Dual-Arm Robots Performing Asymmetric Bimanual Tasks
Authors
Lee, J[Lee, Jinoh]Chang, PH[Chang, Pyung Hun]Jamisola, RS[Jamisola, Rodrigo S., Jr.]
DGIST Authors
Jamisola, RS[Jamisola, Rodrigo S., Jr.]
Issue Date
2014-07
Citation
IEEE Transactions on Industrial Electronics, 61(7), 3786-3796
Type
Article
Article Type
Article
Keywords
Asymmetric Bimanual Task (ABT)Dual ArmIdeal-Velocity Feedback (IVF)Impedance ControlJacobiansRelative JacobianRobotic ArmsTime-Delay Estimation (TDE)Time DelayTime Delay Estimation (TDE)
ISSN
0278-0046
Abstract
This paper presents a method of implementing impedance control (with inertia, damping, and stiffness terms) on a dual-arm system by using the relative Jacobian technique. The proposed method significantly simplifies the control implementation because the dual arm is treated as a single manipulator, whose end-effector motion is defined by the relative motion between the two end effectors. As a result, task description becomes simpler and more intuitive when specifying the desired impedance and the desired trajectories. This is the basis for the relative impedance control. In addition, the use of time-delay estimation enhances ease of implementation of our proposed method to a physical system, which would have been otherwise a very tedious and complicated process. © 2013 IEEE.
URI
http://hdl.handle.net/20.500.11750/3075
DOI
10.1109/TIE.2013.2266079
Publisher
Institute of Electrical and Electronics Engineers Inc.
Files:
There are no files associated with this item.
Collection:
Robotics EngineeringETC1. Journal Articles


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