NDLI: Modular relative Jacobian for dual-arms and the wrench transformation matrix

Content Provider	IEEE Xplore Digital Library
Author	Jamisola, R.S. Kormushev, P. Caldwell, D.G. Ibikunle, F.
Copyright Year	2015
Description	Author affiliation: Electron. & Telecommun. Eng. Dept., Botswana Int. Univ. of Sci. & Technol. (BIUST), Palapye, Botswana (Jamisola, R.S.; Ibikunle, F.) \|\| Dept. of Adv. Robot., Ist. Italiano di Tecnol. (IIT), Genoa, Italy (Kormushev, P.; Caldwell, D.G.)
Abstract	A modular relative Jacobian is recently derived and is expressed in terms of the individual Jacobians of stand-alone manipulators. It includes a wrench transformation matrix, which was not shown in earlier expressions. This paper is an experimental extension of that recent work, which showed that at higher angular end-effector velocities the contribution of the wrench transformation matrix cannot be ignored. In this work, we investigate the dual-arm force control performance, without necessarily driving the end-effectors at higher angular velocities. We compare experimental results for two cases: modular relative Jacobian with and without the wrench transformation matrix. The experimental setup is a dual-arm system consisting of two KUKA LWR robots. Two experimental tasks are used: relative end-effector motion and coordinated independent tasks, where a force controller is implemented in both tasks. Furthermore, we show in an experimental design that the use of a relative Jacobian affords less accurate task specifications for a highly complicated task requirement for both end-effectors of the dual-arm. Experimental results on the force control performance are compared and analyzed.
Starting Page	181
Ending Page	186
File Size	1816356
Page Count	6
File Format	PDF
ISBN	9781467373371
ISSN	23268239
e-ISBN	9781467373388
DOI	10.1109/ICCIS.2015.7274617
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-07-15
Publisher Place	Cambodia
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Jacobian matrices Force Zirconium Robot kinematics Manipulators Force control single manipulator control Dual-arms relative Jacobian modular wrench transformation matrix force control
Content Type	Text
Resource Type	Article

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