Dual position control strategies using the cooperative dual task-space framework

B.V. Adorno, P. Fraisse, S. Druon

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review


We propose a set of control strategies for performing two arm manipulation with the goal of simplifying the task definition. In order to develop these strategies we propose a new representation, derived from the cooperative task-space, in the dual quaternion domain. The result is a compact and “singularity free” representation for two arm systems, named cooperative dual task-space. All the proposed control strategies share the same general scheme and are derived by using an analytical approach. Moreover, the mathematical treatment is given in a coherent and systematic fashion, and thus other strategies may be derived using the same argument. Experimental results show the effectiveness and usefulness of the cooperative dual task-space framework and the proposed control strategies.
Original languageEnglish
Title of host publicationIEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
Number of pages6
ISBN (Electronic)978-1-4244-6676-4
ISBN (Print)978-1-4244-6674-0
Publication statusPublished - 3 Dec 2010


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