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Authors: Nejc Likar 1 ; Bojan Nemec 2 and Leon Žlajpah 2

Affiliations: 1 Jozef Stefan International Postgraduate School and Jozef Stefan Institute, Slovenia ; 2 Jozef Stefan Institute, Slovenia

Keyword(s): Dual-arm Manipulation, Object Manipulation, Virtual Mechanism.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Modeling, Simulation and Architectures ; Robot Design, Development and Control ; Robotics and Automation

Abstract: We propose a novel control approach for cooperative dual-arm object manipulation. Our scheme has three typical features: (1) the two arms with the object together form a new kinematic chain, where the base of the second arm is the end-effector of the new robot; (2) the object between the robots is defined as a virtual mechanism, therefore manipulating the object is accomplished by controlling the virtual mechanism; (3) the proposed scheme allows cooperative dual-arm systems performing a task while moving on mobile platforms. The proposed algorithm is verified with experiments on a dual-arm system with Kuka LWR robots, and simulations with 2 different robots: Kuka LWR on a fixed support and Mitsubishi PA10 robot on a mobile platform Nomad XR400.

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Paper citation in several formats:
Likar, N.; Nemec, B. and Žlajpah, L. (2012). Virtual Mechanism Approach for Dual-arm Manipulation. In Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO; ISBN 978-989-8565-22-8; ISSN 2184-2809, SciTePress, pages 321-326. DOI: 10.5220/0004046203210326

@conference{icinco12,
author={Nejc Likar. and Bojan Nemec. and Leon Žlajpah.},
title={Virtual Mechanism Approach for Dual-arm Manipulation},
booktitle={Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO},
year={2012},
pages={321-326},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004046203210326},
isbn={978-989-8565-22-8},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO
TI - Virtual Mechanism Approach for Dual-arm Manipulation
SN - 978-989-8565-22-8
IS - 2184-2809
AU - Likar, N.
AU - Nemec, B.
AU - Žlajpah, L.
PY - 2012
SP - 321
EP - 326
DO - 10.5220/0004046203210326
PB - SciTePress

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