TY  - BOOK
AB  - 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.
DA  - 2018
LA  - eng
PY  - 2018
TI  - A Projected Inverse Dynamics Approach for Multi-arm Cartesian Impedance Control
UR  - https://nbn-resolving.org/urn:nbn:de:0070-pub-29189228
Y2  - 2024-11-22T16:21:19
ER  -