RT Journal Article
T1 An admittance based hierarchical control framework for dual-arm cobots
A1 Tarbouriech, Sonny
A1 Navarro, Benjamin
A1 Fraisse, Philippe
A1 Crosnier, André
A1 Cherubini, Andrea
A1 Sallé, Damien
AB Dual-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.
SN 0957-4158
YR 2022
FD 2022-10
LK https://hdl.handle.net/11556/4145
UL https://hdl.handle.net/11556/4145
LA eng
NO Tarbouriech , S , Navarro , B , Fraisse , P , Crosnier , A , Cherubini , A & Sallé , D 2022 , ' An admittance based hierarchical control framework for dual-arm cobots ' , Mechatronics , vol. 86 , 102814 . https://doi.org/10.1016/j.mechatronics.2022.102814
NO Publisher Copyright: © 2022 Elsevier Ltd
NO This work was conducted in the context of the project SHERLOCK, which has received funding from the EU Horizon 2020 research and innovation program under Grant Agreement No. 820689 , and of the SOPHIA project, which received funding from the EU Horizon 2020 research and innovation program under Grant Agreement No. 871237 .
DS TECNALIA Publications
RD 31 jul 2024