Quaternion-based regulator for cooperative manipulators. Caccavale, F., Chiacchio, P., & Chiaverini, S. In IEEE Conference on Control Applications - Proceedings, volume 1, 1998. abstract bibtex In this paper the problem of controlling a system of two cooperative manipulators tightly grasping a common object is considered. Based on a suitable formulation of the cooperative task space, a novel regulator is devised which is based on two individual regulation schemes for each manipulator. Internal forces at the held object are canceled via kineto-static filtering of the control action, while force regulation is achieved through force feedback. In order to overcome the problem of representation singularities, end-effector orientation errors are computed through quaternions. The proposed regulation strategy is experimentally tested on a laboratory setup consisting of two industrial manipulators with open control architecture.
@inproceedings{Caccavale1998,
author = {Caccavale, F. and Chiacchio, P. and Chiaverini, S.},
title = {Quaternion-based regulator for cooperative manipulators},
booktitle = {IEEE Conference on Control Applications - Proceedings},
volume = {1},
abstract = {In this paper the problem of controlling a system of two cooperative manipulators tightly grasping a common object is considered. Based on a suitable formulation of the cooperative task space, a novel regulator is devised which is based on two individual regulation schemes for each manipulator. Internal forces at the held object are canceled via kineto-static filtering of the control action, while force regulation is achieved through force feedback. In order to overcome the problem of representation singularities, end-effector orientation errors are computed through quaternions. The proposed regulation strategy is experimentally tested on a laboratory setup consisting of two industrial manipulators with open control architecture.},
year = {1998},
}
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