Cooperative Dual-Arm Control for Heavy Object Manipulation Based on Hierarchical Quadratic Programming
Maximilian Dio,Andreas Völz,Knut Graichen,Maximilian Dio,Andreas Völz,Knut Graichen
This paper presents a new control scheme for cooperative dual-arm robots manipulating heavy objects. The proposed method uses the full dynamical model of the kinematically coupled robot system and builds on a hierarchical quadratic programming (HQP) formulation to enforce dynamical inequality constraints such as joint torques or internal loads. This ensures optimal tracking of an object trajectory...
