A geometric control algebra for cooperative manipulation

Research output: Contribution to book or proceedingConference articlepeer-review

1 Scopus citations

Abstract

A geometric control algebra, represented using hybrid twist and wrench screw theory, is provided and described for cooperating manipulators to model dual-arm robotic operations. In addition to the system model of the manipulators, cooperative dual-arm robotic operations are incorporated using hybrid twist and wrench screw theory into the geometric control algebra. Single-object and two-object operations are based on hybrid twist and wrench screw theory thereby providing the fundamental relationships for freedom of motion and constraint for the dual-arm robotic operations.

Original languageEnglish
Title of host publicationRobotics
Subtitle of host publicationTrends, Principles, and Applications - International Symposium on Robotics and Applications, ISORA - Proceedings of the Sixth Biannual World Automation Congress, WAC 2004
EditorsM. Jamshidi, A. Ollero, J.R. Martinez-de Dios, J.S. Jamshidi
Pages259-264
Number of pages6
StatePublished - 2004
EventRobotics: Trends, Principles, and Applications - International Symposium on Robotics and Applications, ISORA - Sixth Biannual World Automation Congress, WAC 2004 - Seville, Spain
Duration: Jun 28 2004Jul 1 2004

Publication series

NameRobotics: Trends, Principles, and Applications - Proceedings of the Sixth Biannual World Automation Congress, WAC

Conference

ConferenceRobotics: Trends, Principles, and Applications - International Symposium on Robotics and Applications, ISORA - Sixth Biannual World Automation Congress, WAC 2004
Country/TerritorySpain
CitySeville
Period06/28/0407/1/04

Keywords

  • Cooperative Manipulation
  • Dual-Arm Robot
  • Twist/Wrench Screw Theory

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