DocumentCode
1401746
Title
Coordination of dual robot arms using kinematic redundancy
Author
Suh, Il Hong ; Shin, Kang G.
Author_Institution
Dept. of Electron. Eng., Hanyang Univ., Seoul, South Korea
Volume
5
Issue
2
fYear
1989
fDate
4/1/1989 12:00:00 AM
Firstpage
236
Lastpage
242
Abstract
A novel method is developed to coordinate the motion of dual robot arms carrying a solid object, where the first robot (leader) grasps one end of the object rigidly and the second robot (follower) is allowed to change its grasping position at the other end of the object along the object surface while supporting the object. It is shown that this flexible grasping is equivalent to the addition of one more degree of freedom, giving the follower more maneuvering capabilities. In particular, motion commands for the follower are generated by using kinematic redundancy. To show the utility and power of the method, a system with two PUMA 560 robots carrying a beam is analyzed in detail
Keywords
kinematics; redundancy; robots; PUMA 560 robots; dual robot arms; flexible grasping; grasping position; kinematic redundancy; motion coordination; Acceleration; Bridges; Control systems; Cranes; Manipulators; Robot control; Robot kinematics; Solids; Velocity control; Weight control;
fLanguage
English
Journal_Title
Robotics and Automation, IEEE Transactions on
Publisher
ieee
ISSN
1042-296X
Type
jour
DOI
10.1109/70.88045
Filename
88045
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