Abstract
In robotic manipulation systems, a dual-arm configuration is needed for complex operations, like unscrewing a container, and can be useful for load sharing and manipulation of heavy and bulky objects. The potential of dual arm manipulation has recently also been identified for industrial production setups. We discuss how to coordinate such a system using impedance control. A two-arm control law consisting of a set of impedance subsystems is presented. The elasticity in the joints is handled within a singular perturbations based approach. Separate Cartesian impedance controllers for the arms are combined with a compatible coupling impedance. Then, an object level control law for the arms is discussed. The control architecture is briefly discussed. As a non-trivial example, the acquisition of a flat object from a table with grasping points that could not be achieved with a standard twojaw gripper is demonstrated. The robustness of the execution is increased by sliding along the table during the grasping phase.
Published Version
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