中国科学院深圳先进技术研究院机构知识库(SIAT OpenIR): Dual Quaternion Based Kinematic Control for Yumi Dual Arm Robot.
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Dual Quaternion Based Kinematic Control for Yumi Dual Arm Robot.
Jimin Liang; Gong Zhang; Weijun Wang; Zhicheng Hou; Jun Li; Xiying Wang; Chang-Soo Han
2017
Conference NameURAI2017
Conference Date2017
Conference PlaceJeju, South Korea
AbstractOne challenge in dual arm robotic field is the description of cooperative tasks of the two arms. Traditional methods with translational vector and rotational matrix are complex, especially for dual arm cooperative tasks. In this paper, using the ability of dual quaternion based full dual position control strategies, it is possible to present the cooperative kinematic control problem in a compact and lack of singularity manner. Simulations is carried out on ABB YuMi dual arm robot to show the effectiveness of the approach.
Department南沙所--机器人与智能装备中心
Indexed ByEI
Language英语
Document Type会议论文
Identifierhttp://ir.siat.ac.cn/handle/172644/11550
Collection南沙所
Affiliation2017
Recommended Citation
GB/T 7714
Jimin Liang,Gong Zhang,Weijun Wang,et al. Dual Quaternion Based Kinematic Control for Yumi Dual Arm Robot.[C],2017.
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