TY - GEN
T1 - Dual-Arm Relative Tasks Performance Using Sparse Kinematic Control
AU - Tarbouriech, Sonny
AU - Navarro, Benjamin
AU - Fraisse, Philippe
AU - Crosnier, André
AU - Cherubini, Andrea
AU - Sallé, Damien
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/12/27
Y1 - 2018/12/27
N2 - To 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.
AB - To 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.
UR - http://www.scopus.com/inward/record.url?scp=85062972720&partnerID=8YFLogxK
U2 - 10.1109/IROS.2018.8594320
DO - 10.1109/IROS.2018.8594320
M3 - Conference contribution
AN - SCOPUS:85062972720
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 6003
EP - 6009
BT - 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018
Y2 - 1 October 2018 through 5 October 2018
ER -