Cited time in webofscience Cited 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
Author(s)
Lee, JinohChang, Pyung HunJamisola, Rodrigo S., Jr.
Issued Date
2014-07
Citation
IEEE Transactions on Industrial Electronics, v.61, no.7, pp.3786 - 3796
Type
Article
Author Keywords
Asymmetric bimanual task (ABT)dual armideal-velocity feedback (IVF)impedance controlrelative Jacobiantime-delay estimation (TDE)
Keywords
ROBUST FORCE CONTROLMANIPULATIONDESIGNSYSTEMS
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 in This Item:

There are no files associated with this item.

Appears in Collections:
ETC 1. Journal Articles
Department of Robotics and Mechatronics Engineering ETC 1. Journal Articles

qrcode

  • twitter
  • facebook
  • mendeley

Items in Repository are protected by copyright, with all rights reserved, unless otherwise indicated.

BROWSE