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

Since the configuration space (C-space) model has been successfully used in studies of automatic off-line collision-free path planning, optimal trajectory planning, and optimal control of a single robot, there are attempts to apply the C-space model to the study of a tightly coordinated two robot manipulator (TCTR) system. A fundamental assumption used in the C-space model for a single robot is that any continuous trajectory planned in the C-space can be uniquely mapped to a continuous trajectory in the world space. However, this assumption cannot be satisfied when the C-space model is applied to a TCTR. Therefore, applying the C-space model to a TCTR in the past was based on additional heuristic constraints that prevent the utilization of full ability of the TCTR. This paper presents a method to define and decompose systematically the C-space of a TCTR so that the aforementioned assumption can be satisfied without sacrificing the ability of the TCTR. By using the C-space decomposition method, the methodologies for a single robot arm and a TCTR can be unified, which means that the control and planning methods developed for a single robot can be systematically extended for a TCTR