Decision-making criteria for intelligent control of dual-Arm robots with cooperating manipulators

Daniel J. Cox, Delbert Tesar

Research output: Contribution to journalConference articlepeer-review

Abstract

Cooperating manipulators in dual-Arm robots usually result in a mechanically overconstrained system having more actuator resources than freedom of motion, or an excess of actuator inputs. This redundancy in the drivability of the system provides the opportunity for choice, or resource allocation, a fundamental quality of an intelligent machine. There are in general an infinite number of selections for actuator inputs and resultant internal load states to satisfy a specified output load state and motion trajectory in a. dual-Arm robot made up of cooperating manipulators. Decision-making criteria are necessary to make effeclive use of dual-Arm robotic system resources, as well as to enhance performance for either telerohotic or autonomous dual-Arm robots. The decision-making criteria are based on parameters inherent to the two cooperating manipulators, and parameters intrinsic to cooperative modes of operation in dual-Arm robots. There are many criteria that need to be evaluated and balanced in a complete decision-making system for dual-Arm robots. A set of decision-making criteria for dual-Arm robots is proposed from which a subset is examined in detail. The criteria are based on a full geometric description of the system using well established modeling techniques. A development system environment is required to investigate multiple decision-making criteria. The effects of criteria selections on system performance and the influence of the decision-making criteria selections within the dual-Arm robotic system are examined through the use of a development system environment comprised of interactive computer graphics. A graphical simulation of a i 7 degree-of-freedom robot performing cooperative dual-Arm robotic operations is used to interactively study and evaluate multiple decision-making criteria for dual-Arm robots.

Original languageEnglish
Pages (from-to)429-442
Number of pages14
JournalProceedings of SPIE - The International Society for Optical Engineering
Volume2057
DOIs
StatePublished - Dec 21 1993
EventTelemanipulator Technology and Space Telerobotics 1993 - Boston, United States
Duration: Sep 7 1993Sep 10 1993

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