Dual-arm cooperative manipulation based on differential evolution

Abstract

Cooperative manipulation in dual-arm robotic systems is a fundamental capability to perform many problems such as human-like tasks. In this article, we present an approach to solve dual-arm cooperative manipulation tasks using the differential evolution algorithm. In this work, manipulator kinematics are represented using the Denavit–Hartenberg model. The proposed method is able to avoid singularities because it does not require the inversion of any Jacobian matrix. In addition, the proposed approach handles joint limit constraints based on penalty functions. As a final remark, this approach is suitable for robotic systems of redundant or non-redundant serial manipulators composed of revolute or prismatic joints. Simulation experiments illustrate the effectiveness of the proposed approach under different dual-arm configurations. Furthermore, real experiments were performed using a dual-arm KUKA Youbot system to show the applicability of the proposed approach.