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 manipulator Jacobians. The task space inertia is expressed in terms of the Jacobians and dynamics of each of R. S. Jamisola Jr. ( ) Department of Electrical, Computer and Telecommunications Engineering, Botswana International University of Science and Technology, Palapye, Botswana e-mail: [email protected] P. S. Kormushev Dyson School of Design Engineering, Imperial College London, London, UK e-mail: [email protected] R. G. Roberts Department of Electrical and Computer Engineering, Florida State University, Tallahassee, FL, USA e-mail: [email protected] D. G. Caldwell Department of Advanced Robotics, Instituto Italiano di Tecnologia, Via Morego, 3