The goal of this paper is the application of a geometrically consistent impedance concept to control interaction with environment of a rigid object manipulated by a dual-robot system. A six-DOF impedance is specified at the object level to confer a compliant behavior for both the translational and the rotational motion when an external force and moment occurs at the contact. Geometric consistency is ensured thanks to the use of the unit quaternion to describe object frame orientation. The resulting object motion is decomposed into the equivalent motions at the end effectors of the two robots, via a task-oriented formulation. The control scheme is derived according to an inverse dynamics strategy with adoption of an inner motion loop providing robustness to unmodeled dynamics and disturbances. Experimental results on the two industrial robots available in the lab are discussed.
Geometrically consistent impedance control for dual-robot manipulation / F., Caccavale; S., Chiaverini; C., Natale; Siciliano, Bruno; Villani, Luigi. - STAMPA. - (2000), pp. 3873-3878. (Intervento presentato al convegno IEEE International Conference on Robotics and Automation tenutosi a San Francisco, CA nel May) [10.1109/ROBOT.2000.845335].
Geometrically consistent impedance control for dual-robot manipulation
SICILIANO, BRUNO;VILLANI, LUIGI
2000
Abstract
The goal of this paper is the application of a geometrically consistent impedance concept to control interaction with environment of a rigid object manipulated by a dual-robot system. A six-DOF impedance is specified at the object level to confer a compliant behavior for both the translational and the rotational motion when an external force and moment occurs at the contact. Geometric consistency is ensured thanks to the use of the unit quaternion to describe object frame orientation. The resulting object motion is decomposed into the equivalent motions at the end effectors of the two robots, via a task-oriented formulation. The control scheme is derived according to an inverse dynamics strategy with adoption of an inner motion loop providing robustness to unmodeled dynamics and disturbances. Experimental results on the two industrial robots available in the lab are discussed.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.