Switching strategy for flexible task execution using the cooperative dual task-space framework

L.F.C. Figueredo, B.V. Adorno, J.Y. Ishihara, G.A. Borges

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


This paper presents a new strategy for task space control in the cooperative manipulation framework. We extend the cooperative dual task-space (CDTS) - which uses dual quaternions to represent the bimanual manipulation-to explicitly regard self-motion dynamics that arise from redundant kinematics. In this sense, we propose a flexible task execution criterion that enriches the Jacobian null space with additional degrees of freedom by relaxing control requirements upon specific geometric task objectives. The criterion is satisfied with a hysteresis-based switching strategy that ensures stability and convergence upon traditional and relaxed constraints. Simulation results highlight the importance and effectiveness of the proposed technique.
Original languageUndefined
Title of host publicationIEEE International Conference on Intelligent Robots and Systems
Number of pages6
Publication statusPublished - 6 Nov 2014


  • Quaternions
  • Aerospace electronics
  • Jacobian matrices
  • Switches
  • Kinematics
  • Joints
  • Vectors

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