Name
Title | ||
|---|---|---|
Switching strategy for flexible task execution using the cooperative dual task-space framework |
Abstract | ||
|---|---|---|
This paper presents a new strategy for task space control in the cooperative manipulation framework. We extend the cooperative dual task-space (CDTS) - which uses dual quaternions to represent the bimanual manipulation-to explicitly regard self-motion dynamics that arise from redundant kinematics. In this sense, we propose a flexible task execution criterion that enriches the Jacobian null space with additional degrees of freedom by relaxing control requirements upon specific geometric task objectives. The criterion is satisfied with a hysteresis-based switching strategy that ensures stability and convergence upon traditional and relaxed constraints. Simulation results highlight the importance and effectiveness of the proposed technique. |
Year | DOI | Venue |
|---|---|---|
2014 | 10.1109/IROS.2014.6942784 | Intelligent Robots and Systems |
Keywords | DocType | ISSN |
Jacobian matrices,convergence,flexible manipulators,manipulator dynamics,redundant manipulators,stability,Jacobian null space,bimanual manipulation,control requirements,convergence,cooperative dual task-space framework,cooperative manipulation framework,dual quaternions,flexible task execution criterion,hysteresis-based switching strategy,redundant kinematics,relaxed constraints,self-motion dynamics,specific geometric task objectives,stability,task space control | Conference | 2153-0858 |
Citations | PageRank | References |
3 | 0.44 | 8 |
Authors | ||
4 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Luis Felipe da Cruz Figueredo | 1 | 16 | 4.91 |
| Bruno Vilhena Adorno | 2 | 45 | 8.08 |
| JoÃo Yoshiyuki Ishihara | 3 | 100 | 16.78 |
| Geovany de Araújo Borges | 4 | 3 | 0.44 |