Configuration space model of tightly coordinated two robot manipulators operating in 3-dimensional workspace

The authors develop the C-space model of a tightly coordinated two-robot manipulator system (TCTR) based on its kinematic features. A continuous path of the TCTR in the C-space can be mapped uniquely to the world space. C-subspaces of the coordinated robots can be defined systematically, which is very important when the number of C-subspaces becomes large and human intuition becomes less helpful. The independent joint variables of a closed chain can be arbitrarily chosen. The C-space model can be used effectively to extend the successful motion planning and control approaches for a single robot to a TCTR