Dual quaternion based kinematic control for Yumi dual arm robot

@article{Liang2017DualQB,
  title={Dual quaternion based kinematic control for Yumi dual arm robot},
  author={Jimin Liang and Gong Zhang and Weijun Wang and Zhicheng Hou and Jun Li and Xiying Wang and Chang-Soo Han},
  journal={2017 14th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)},
  year={2017},
  pages={114-118}
}
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… CONTINUE READING