DocumentCode
1339137
Title
Co-ordinated path tracking by two robot arms with a noninverting algorithm based on the simplex method
Author
Voliotis, S.D. ; Panopoulos, G.I. ; Christodoulou, M.A.
Author_Institution
Dept. of Comput. Eng., Sch. of Eng., Comput. Technol. Inst., Patras Univ., Greece
Volume
137
Issue
6
fYear
1990
fDate
11/1/1990 12:00:00 AM
Firstpage
390
Lastpage
396
Abstract
Presents an algorithm for path tracking of two robot arms with end-effectors holding a common inertial load. The path is generated as a sequence of elementary motions. Each new position is defined as a function of the previous one. Holonomic constraints are imposed. The characteristic feature of the present algorithm is that it avoids singularities, because there is no need to use inverse kinematics.
Keywords
optimisation; position control; robots; common inertial load; coordinated path stacking; end-effectors; holonomic constraints; noninverting algorithm; robot arms; simplex method;
fLanguage
English
Journal_Title
Control Theory and Applications, IEE Proceedings D
Publisher
iet
ISSN
0143-7054
Type
jour
Filename
60338
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