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This paper presents a method of implementing impedance control (with inertia, damping, and stiffness terms) on a dual-arm system by using the relative Jacobian technique. The proposed method significantly simplifies the control implementation because the dual arm is treated as a single manipulator, whose end-effector motion is defined by the relative motion between the two end effectors. As a result, task description becomes simpler and more intuitive when specifying the desired impedance and the desired trajectories. This is the basis for the relative impedance control. In addition, the use of time-delay estimation enhances ease of implementation of our proposed method to a physical system, which would have been otherwise a very tedious and complicated process.
Lee et al. (Tue,) studied this question.