Fast dual-arm manipulation using variable admittance control: Implementation and experimental results
This paper presents a control system for fast cooperative dual-arm manipulation of rigid objects with experimental results. The motivation for multi-arm manipulation comes from the wide range of applications. The possible tasks that can be performed by such a system greatly exceed those of a single manipulator system. The proposed system is flexible with respect to uncertainties in object size. Moreover, it allows for physical human interaction through force/torque sensing. This is especially beneficial in industrial cases where humans and robots work on the same production line. One main goal of this paper is to bridge the gap between current research regarding dual-arm manipulation and the implementation possibilities on current industrial robots and widely available standard hardware.
Academic chapter/article/Conference paper
- Research Council of Norway (RCN) / 223254
- Magnus Bjerkeng
- Johannes Schrimpf
- Torstein Anderssen Myhre
- Kristin Ytterstad Pettersen
- SINTEF Digital / Mathematics and Cybernetics
- Norwegian University of Science and Technology
Curran Associates, Inc.
IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014 (IROS 2014), Chicago, Ill. 14-18 Sept. 2014
4728 - 4734