The kinematic control problem for a system of two cooperative 6-dof manipulators is addressed in this paper. First, a kinematic model of the system is obtained which allows a clear description of the task in terms of absolute and relative variables. Then, a suitable inverse kinematics scheme is designed to compute the joint variable trajectories corresponding to a given trajectory for the above cooperative task variables. The effectiveness of the technique is demonstrated by two case studies for two cooperative PUMA 560 robot manipulators; one regards a typical coordinated motion for the system, the other is aimed at illustrating the redundancy resolution features of the scheme.
Task-oriented kinematic control of two cooperative 6-DOF manipulators
CHIACCHIO, Pasquale;
1993-01-01
Abstract
The kinematic control problem for a system of two cooperative 6-dof manipulators is addressed in this paper. First, a kinematic model of the system is obtained which allows a clear description of the task in terms of absolute and relative variables. Then, a suitable inverse kinematics scheme is designed to compute the joint variable trajectories corresponding to a given trajectory for the above cooperative task variables. The effectiveness of the technique is demonstrated by two case studies for two cooperative PUMA 560 robot manipulators; one regards a typical coordinated motion for the system, the other is aimed at illustrating the redundancy resolution features of the scheme.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
