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Application of Dual Quaternion for Bimanual Robotic Tasks

Abstract : The classical approach for dual-arm cooperative task space control was revisited and the symmetric formulation of dual arm coordination using virtual sticks was implemented using screw-based kinematics with dual quaternion representation. The proposed coupled control of cooperative task space, i.e. simultaneous control of both position and orientation setpoints of relative and absolute task space was compared against the performance of a proportional decoupled controller treating position and orientation error separately. The coupled controller demonstrated better tracking of pose and orientation in terms of accuracy and stability compared to the decoupled controller for tasks requiring faster operation in the relative task space of dual-arm manipulators.The cooperative task space modelling and control approach using screw-based kinematics and dual quaternions were extended for the cooperation modelling of the fingers of an anthropomorphic robotic hand. Additionally, the coupling of joints in the underactuated fingers of the robotic hand was represented with a coupled finger Jacobian. The coupled Jacobian of the robotic finger was used for inverse kinematic control, while allowing easy integration with a robotic arm.The idea of coupled treatment of position and orientation variables was capitalized further with the design of a second-order trajectory tracker using dual quaternions. The trajectory controller hence designed was capable of tracking pose, velocity and acceleration setpoints for the end-effector using inverse dynamic model of the robot. The coupled resolved rate acceleration controller was found to be capable of tighter trajectory control, specially for error terms related to orientation, compared to the conventional decoupled controller that treated the position and orientation setpoints separately and ignored the inherent effect of rotation on translational motion. Additionally, it also led to lower oscillations in the joint torque command when implemented for the control of one of the arms of Baxter dual-arm robot.Finally, a complete framework for the coordination of bi-arm robotic systems was proposed with the addition of a cooperative task planner. The simplicity of screw theory was exploited additionally for parametrized generation of generalized second order trajectories for tasks requiring simplified motion, like translation, rotation and screw motion around an arbitrary 6D screw-axis given in a known reference frame. The trajectory generation method was extended to represent the constraints related to tasks involving contact between objects using the concept of virtual mechanism.
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Rohit Chandra. Application of Dual Quaternion for Bimanual Robotic Tasks. Automatic. Université Clermont Auvergne, 2019. English. ⟨NNT : 2019CLFAC042⟩. ⟨tel-02481648⟩

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