A quaternion-based impedance control framework is presented which ensures geometric consistency for the execution of six-DOF interaction tasks. This is applied to cooperative manipulation of an object by two robots. Both loose and tight cooperative control schemes are designed, and the theoretical findings are validated in experiments on a dual-robot industrial setup.
Quaternion-based impedance control for dual-robot cooperation
CACCAVALE, Fabrizio;
2000-01-01
Abstract
A quaternion-based impedance control framework is presented which ensures geometric consistency for the execution of six-DOF interaction tasks. This is applied to cooperative manipulation of an object by two robots. Both loose and tight cooperative control schemes are designed, and the theoretical findings are validated in experiments on a dual-robot industrial setup.File in questo prodotto:
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