Task-Space Modular Dynamics for Dual-Arms Expressed through a Relative Jacobian
نویسندگان
چکیده
منابع مشابه
Task-Space Modular Dynamics for Dual-Arms Expressed through a Relative Jacobian
This paper presents modular dynamics for dual-arms, expressed in terms of the kinematics and dynamics of each of the stand-alone manipulators. The two arms are controlled as a single manipulator in the task space that is relative to the two end-effectors of the dual-arm robot. A modular relative Jacobian, derived from a previous work, is used which is expressed in terms of the stand-alone manip...
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A current trend in Robotics is the analysis and the design of cooperative manipulation system, i.e. systems composed of multiple manipulator units interacting one another in a coordinated way. A cooperative system is characterized by higher manipulability and load capacity with respect to single-manipulator systems. The concept of the relative Jacobian is used to generate trajectories in the jo...
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ژورنال
عنوان ژورنال: Journal of Intelligent & Robotic Systems
سال: 2016
ISSN: 0921-0296,1573-0409
DOI: 10.1007/s10846-016-0361-0