Browsing by Author "Crosnier, André"
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Item An admittance based hierarchical control framework for dual-arm cobots(2022-10) Tarbouriech, Sonny; Navarro, Benjamin; Fraisse, Philippe; Crosnier, André; Cherubini, Andrea; Sallé, Damien; ROBOTICA_FLEXDual-arm robotic platforms have solid arguments to match the growing need for versatility in the industry. Coupling the control of two manipulators for cooperative purposes enlarges the scope of feasible operations, while adding perception capabilities allows to navigate in dynamic environments. In this respect, we propose a complete online kinematic control framework for dual-arm robots operating in unstructured industrial settings. We base our approach on admittance control in the cooperative task space. Regulating internal and external efforts offer safe bimanual task execution and enables physical interaction. We implement a hierarchical quadratic programming architecture that applies a prioritization of tasks: most efforts are concentrated on the proper tracking of relative motions of the arms, which is the most critical for safety reasons. We demonstrate the performance of our framework through a “teaching-by-demonstration” experiment on the dual-arm mobile cobot BAZAR.Item Dual-Arm Relative Tasks Performance Using Sparse Kinematic Control(Institute of Electrical and Electronics Engineers Inc., 2018-12-27) Tarbouriech, Sonny; Navarro, Benjamin; Fraisse, Philippe; Crosnier, André; Cherubini, Andrea; Sallé, Damien; ROBOTICA_FLEXTo make production lines more flexible, dual-arm robots are good candidates to be deployed in autonomous assembly units. In this paper, we propose a sparse kinematic control strategy, that minimizes the number of joints actuated for a coordinated task between two arms. The control strategy is based on a hierarchical sparse QP architecture. We present experimental results that highlight the capability of this architecture to produce sparser motions (for an assembly task) than those obtained with standard controllers.