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.
2000
9781852332921
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11563/7885
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