Task-Space Modular Dynamics for Dual-Arms Expressed through a Relative Jacobian

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...

Screw-based Relative Jacobian for Manipulators Cooperating in a Task

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...

A not on modular hyperconvex space

A note on modular hyperconvex space

Double Sequence Iterations for Strongly Contractive Mapping in Modular Space

In this paper, we consider double sequence iteration processes for strongly $rho$-contractive mapping in modular space. It is proved, these sequences, convergence strongly to a fixed point of the strongly $rho$-contractive mapping.