Dual Quaternion Based Kinematic Control for Yumi Dual Arm Robot.
文献类型：会议论文
| 作者 | Jimin Liang; Gong Zhang; Weijun Wang; Zhicheng Hou; Jun Li; Xiying Wang; Chang-Soo Han |
| 出版日期 | 2017 |
| 会议日期 | 2017 |
| 会议地点 | Jeju, South Korea |
| 英文摘要 | One 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. |
| 语种 | 英语 |
| 源URL | [http://ir.siat.ac.cn:8080/handle/172644/11550]  |
| 专题 | 深圳先进技术研究院_南沙所 |
| 作者单位 | 2017 |
| 推荐引用方式 GB/T 7714 | Jimin Liang,Gong Zhang,Weijun Wang,et al. Dual Quaternion Based Kinematic Control for Yumi Dual Arm Robot.[C]. 见:. Jeju, South Korea. 2017. |
入库方式： OAI收割
来源：深圳先进技术研究院
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