Characterization of robotic operations for dual-arm robots with cooperating manipulators

Daniel J. Cox, Delbert Tesar

Research output: Contribution to book or proceedingConference articlepeer-review

Abstract

Cooperating manipulators in dual-arm robots usually result in a mechanically overconstrained system having more actuator resource.s than freedom of motion, or an excess of actuator inputs. This redundancy in drivability condition provides the opportunityfor choice, or decision, the fundamental quality of an intelligent machine. There are in general an infinite number of selections for actuator inputs and resultant internal load state.s to satisfy a specified output load state and motion trajectory in a dual-arm robot with cooperating manipulators, A geometric, operation descriptor provides the fundamental geometric relationships for motion and constraint in cooperative dual-arm robotic operations. Cooperative modes of operation for dual-arm robots are characterized using the geometric operation descriptor to provide a basis of solution to the redundancy in drivability of the system. Mode.s of operation involving single, objects a.s well a.s two-object operations are describedfor the dual-arm robot with cooperating manipulators.

Original languageEnglish
Title of host publication22nd Biennial Mechanisms Conference
Subtitle of host publicationRobotics, Spatial Mechanisms, and Mechanical Systems
PublisherAmerican Society of Mechanical Engineers (ASME)
Pages445-453
Number of pages9
ISBN (Electronic)9780791809396
DOIs
StatePublished - 1992
EventASME 1992 Design Technical Conferences, DETC 1992 - Scottsdale, United States
Duration: Sep 13 1992Sep 16 1992

Publication series

NameProceedings of the ASME Design Engineering Technical Conference
VolumePart F168016-2

Conference

ConferenceASME 1992 Design Technical Conferences, DETC 1992
Country/TerritoryUnited States
CityScottsdale
Period09/13/9209/16/92

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