Dual-arm cooperative manipulation under joint limit constraints

Davide Ortenzi, Rajkumar Muthusamy, Alessandro Freddi, Andrea Monteriù, Ville Kyrki

Research output: Contribution to journalArticleScientificpeer-review

18 Citations (Scopus)
67 Downloads (Pure)


Cooperative manipulation of a rigid object is challenging and represents an interesting and active research area, especially when these robots are subject to joint and task prioritization constraints. In cooperative manipulation, a primary task is to maintain the coordination of motions, to avoid severe damage caused by the violation of kinematic constraints imposed by the closed chain mechanism. This paper proposes a kinematic controller for dual-arm cooperative manipulation that ensures safety by providing relative coordinated motion as highest priority task and joint limit avoidance and world-space trajectory following at a lower priority. The coordination of motions is based on modular relative Jacobian formulation. The approach is applicable to systems composed of redundant or non-redundant manipulators. Experiments in simulation demonstrate the behavior of the approach under different redundancy configurations. Experiments on two robots with different number of redundant motions show the applicability of the proposed approach to cooperative manipulation under joint limit constraints.
Original languageEnglish
Pages (from-to)110–120
Number of pages11
JournalRobotics and Autonomous Systems
Publication statusPublished - 31 Oct 2017
MoE publication typeA1 Journal article-refereed


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