Virtual Mechanism Approach for Dual-arm Manipulation

Nejc Likar, Bojan Nemec, Leon Žlajpah

2012

Abstract

We propose a novel control approach for cooperative dual-arm object manipulation. Our scheme has three typical features: (1) the two arms with the object together form a new kinematic chain, where the base of the second arm is the end-effector of the new robot; (2) the object between the robots is defined as a virtual mechanism, therefore manipulating the object is accomplished by controlling the virtual mechanism; (3) the proposed scheme allows cooperative dual-arm systems performing a task while moving on mobile platforms. The proposed algorithm is verified with experiments on a dual-arm system with Kuka LWR robots, and simulations with 2 different robots: Kuka LWR on a fixed support and Mitsubishi PA10 robot on a mobile platform Nomad XR400.

Paper Citation

in Harvard Style

Likar N., Nemec B. and Žlajpah L. (2012). Virtual Mechanism Approach for Dual-arm Manipulation . In Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8565-22-8, pages 321-326. DOI: 10.5220/0004046203210326

in Bibtex Style

@conference{icinco12,
author={Nejc Likar and Bojan Nemec and Leon Žlajpah},
title={Virtual Mechanism Approach for Dual-arm Manipulation},
booktitle={Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2012},
pages={321-326},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004046203210326},
isbn={978-989-8565-22-8},
}

in EndNote Style

TY - CONF
JO - Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Virtual Mechanism Approach for Dual-arm Manipulation
SN - 978-989-8565-22-8
AU - Likar N.
AU - Nemec B.
AU - Žlajpah L.
PY - 2012
SP - 321
EP - 326
DO - 10.5220/0004046203210326