DocumentCode
487278
Title
Dynamic Workspace Analysis of Two Cooperating Robot Arms
Author
Tarn, T.J. ; Bejczy, A.K. ; Li, Zuo-Feng
Author_Institution
Department of Systems Science and Mathematics, Washington University, St. Louis, MO 63130
fYear
1988
fDate
15-17 June 1988
Firstpage
489
Lastpage
498
Abstract
One of the advantages of using two or more robot arms to perform the same task is the increased load carrying, handling, and manipulation capability. It is necessary to know the maximum force/moment that the robots can generate jointly at each point within their common workspace. This is the main subject of dynamic workspace analysis. In this paper, we develop a conceptually simple procedure to solve this problem. This procedure models the two cooperating robot arms as a closed chain system and is based on the theory of linear transformations and the properties of mechanics.
Keywords
Force control; Laboratories; Leg; Legged locomotion; Manipulators; Mechanical factors; Propulsion; Robot kinematics; Strontium; Torque;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 1988
Conference_Location
Atlanta, Ga, USA
Type
conf
Filename
4789770
Link To Document