A Projected Inverse Dynamics Approach for Multi-arm Cartesian Impedance Control
نویسندگان
چکیده
We propose a model-based control framework for multi-arm manipulation of a rigid object subject to external disturbances. The control framework, based on projected inverse dynamics, decomposes the control law into constrained and unconstrained subspaces. Unconstrained components accomplish the motion task with a desired 6-DOF Cartesian impedance behaviour against external disturbances. Meanwhile, the constrained component enforces contact and friction constraints by optimising for contact forces within the constrained subspace. External disturbances are explicitly compensated for without using force/torque sensors at the contact points. The approach is evaluated on a dual-arm platform manipulating a rigid object while coping with unknown object dynamics and human interaction.
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A Projected Inverse Dynamics Approach for Dual-arm Cartesian Impedance Control
We propose a method for dual-arm manipulation of rigid objects, subject to external disturbance. The problem is formulated as a Cartesian impedance controller within a projected inverse dynamics framework. We use the constrained component of the controller to enforce contact and the unconstrained controller to accomplish the task with a desired 6DOF impedance behaviour. Furthermore, the propose...
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