TY - GEN
T1 - Characterization of robotic operations for dual-arm robots with cooperating manipulators
AU - Cox, Daniel J.
AU - Tesar, Delbert
N1 - Publisher Copyright:
© 1992 American Society of Mechanical Engineers (ASME). All rights reserved.
PY - 1992
Y1 - 1992
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85104195823&partnerID=8YFLogxK
U2 - 10.1115/DETC1992-0244
DO - 10.1115/DETC1992-0244
M3 - Conference article
AN - SCOPUS:85104195823
T3 - Proceedings of the ASME Design Engineering Technical Conference
SP - 445
EP - 453
BT - 22nd Biennial Mechanisms Conference
PB - American Society of Mechanical Engineers (ASME)
T2 - ASME 1992 Design Technical Conferences, DETC 1992
Y2 - 13 September 1992 through 16 September 1992
ER -