Cooperating manipulator control using dual quaternion coordinates

Dual quaternion components are used for the coordinated movement of two manipulators transporting a common object. Using dual quaternion interpolation for generating a path between two positions is shown to satisfy the kinematic constraints of the resulting closed chain mechanism at all the interpolated points. A method for force control is also developed when working in dual quaternion coordinates. Through use of a differential dual quaternion, whose elements depend on the measured forces and torques, a position accommodation term is added, which takes into account the desired compliance. This method is experimentally verified using two PUMA 560 manipulators transporting a common object