Virtual mechanism approach for dual arm manipulation
SUMMARY We propose a novel control approach for cooperative dual arm manipulation tasks. Our scheme has three typical features: (1) the task performed by two robots is represented as a motion of a virtual mechanism and the task execution is accomplished by controlling the virtual mechanism; (2) the two arms and the task form a joined kinematic chain; (3) the scheme allows a cooperative dual arm system to perform the task also when robot base is moving. The calculation of the Jacobian matrix of a chained two arm mechanisms is based on a methodology which is using the Jacobian matrices of particular robot mechanisms and their end effector positions and orientations. The proposed algorithm for dual arm manipulation is verified by simulations of two cooperating planar robots and by experiments on a dual arm robot consisting of two KUKA LWR arms.
Robotica