Paper Info
Title
Asymmetric Dual-Arm Task Execution Using an Extended Relative Jacobian
Abstract
Coordinated dual-arm manipulation tasks can be broadly characterized as possessing absolute and relative motion components. Relative motion tasks, in particular, are inherently redundant in the way they can be distributed between end-effectors. In this work, we analyse cooperative manipulation in terms of the asymmetric resolution of relative motion tasks. We discuss how existing approaches enable the asymmetric execution of a relative motion task, and show how an asymmetric relative motion space can be defined. We leverage this result to propose an extended relative Jacobian to model the cooperative system, which allows a user to set a concrete degree of asymmetry in the task execution. This is achieved without the need for prescribing an absolute motion target. Instead, the absolute motion remains available as a functional redundancy to the system. We illustrate the properties of our proposed Jacobian through numerical simulations of a novel differential Inverse Kinematics algorithm.
Year
DOI
Venue
2019
10.1007/978-3-030-95459-8_2
ROBOTICS RESEARCH: THE 19TH INTERNATIONAL SYMPOSIUM ISRR
DocType
Volume
ISSN
Journal
20
2511-1256
Citations 
PageRank 
References 
0
0.34
0
Authors
2
Name
Order
Citations
PageRank
Diogo Almeida101.35
Yiannis Karayiannidis216222.05