Control Strategies Using the Extended Cooperative Dual Task-Space

Seyonne Leslie-Dalley; Bruno Adorno; Keir Groves

doi:10.1007/978-3-031-72062-8_13

Control Strategies Using the Extended Cooperative Dual Task-Space

Research output: Chapter in Book/Conference proceeding › Conference contribution › peer-review

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Abstract

An existing extension of the Cooperative Task Space is reformulated in the dual quaternion domain to form the Extended Cooperative Dual Task Space (ECDTS). This representation allows for the description of both uncoordinated and coordinated cooperative manipulation tasks into a unified formulation free of representational singularities. Additionally, a general framework is proposed to describe cooperative manipulation tasks considering the required manipulation mode in the ECDTS, the desired control objective, and additional task constraints. Vector Field Inequalities (VFIs) and geometric primitives such as Plücker lines and planes are used to define such constraints. Simulations of a task from each manipulation mode are carried out and show the generality of the proposed framework and applicability of the ECDTS formulation.

Original language	English
Title of host publication	Towards Autonomous Robotic Systems
Volume	15052
DOIs	https://doi.org/10.1007/978-3-031-72062-8_13
Publication status	Published - 30 Dec 2024

Keywords

Cooperative Manipulation
Collision Avoidance
Robot Control

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

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10.1007/978-3-031-72062-8_13

tarosleslieadornogroves_aamAccepted author manuscript, 1.43 MBLicence: CC BY

CRADLE: CRADLE - Centre for Robotic Autonomy in Demanding and Long-lasting Environments
Fisher, M. (PI), Adorno, B. (CoI), Cangelosi, A. (CoI), Dennis, L. (CoI), Dixon, C. (CoI), Groves, K. (CoI), Lennox, B. (CoI) & Watson, S. (CoI)
1/09/23 → 31/08/28
Project: Research

Cite this

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title = "Control Strategies Using the Extended Cooperative Dual Task-Space",

abstract = "An existing extension of the Cooperative Task Space is reformulated in the dual quaternion domain to form the Extended Cooperative Dual Task Space (ECDTS). This representation allows for the description of both uncoordinated and coordinated cooperative manipulation tasks into a unified formulation free of representational singularities. Additionally, a general framework is proposed to describe cooperative manipulation tasks considering the required manipulation mode in the ECDTS, the desired control objective, and additional task constraints. Vector Field Inequalities (VFIs) and geometric primitives such as Pl{\"u}cker lines and planes are used to define such constraints. Simulations of a task from each manipulation mode are carried out and show the generality of the proposed framework and applicability of the ECDTS formulation.",

keywords = "Cooperative Manipulation, Collision Avoidance, Robot Control",

author = "Seyonne Leslie-Dalley and Bruno Adorno and Keir Groves",

year = "2024",

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day = "30",

doi = "10.1007/978-3-031-72062-8\_13",

language = "English",

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T1 - Control Strategies Using the Extended Cooperative Dual Task-Space

AU - Leslie-Dalley, Seyonne

AU - Adorno, Bruno

AU - Groves, Keir

PY - 2024/12/30

Y1 - 2024/12/30

N2 - An existing extension of the Cooperative Task Space is reformulated in the dual quaternion domain to form the Extended Cooperative Dual Task Space (ECDTS). This representation allows for the description of both uncoordinated and coordinated cooperative manipulation tasks into a unified formulation free of representational singularities. Additionally, a general framework is proposed to describe cooperative manipulation tasks considering the required manipulation mode in the ECDTS, the desired control objective, and additional task constraints. Vector Field Inequalities (VFIs) and geometric primitives such as Plücker lines and planes are used to define such constraints. Simulations of a task from each manipulation mode are carried out and show the generality of the proposed framework and applicability of the ECDTS formulation.

AB - An existing extension of the Cooperative Task Space is reformulated in the dual quaternion domain to form the Extended Cooperative Dual Task Space (ECDTS). This representation allows for the description of both uncoordinated and coordinated cooperative manipulation tasks into a unified formulation free of representational singularities. Additionally, a general framework is proposed to describe cooperative manipulation tasks considering the required manipulation mode in the ECDTS, the desired control objective, and additional task constraints. Vector Field Inequalities (VFIs) and geometric primitives such as Plücker lines and planes are used to define such constraints. Simulations of a task from each manipulation mode are carried out and show the generality of the proposed framework and applicability of the ECDTS formulation.

KW - Cooperative Manipulation

KW - Collision Avoidance

KW - Robot Control

U2 - 10.1007/978-3-031-72062-8_13

DO - 10.1007/978-3-031-72062-8_13

M3 - Conference contribution

VL - 15052

BT - Towards Autonomous Robotic Systems

ER -

Control Strategies Using the Extended Cooperative Dual Task-Space

Abstract

Keywords

UN SDGs

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Projects

CRADLE: CRADLE - Centre for Robotic Autonomy in Demanding and Long-lasting Environments

Cite this