The typical task of a cooperative two-arm system is to manipulate a common object. This demands for a task description in terms of absolute variables describing the motion of the object and relative variables describing the mutual location between the end effectors which in turn characterize the object grasp. An effective user oriented task description was established which defines the cooperative task for spatial manipulators as well as allows the user to give a direct specification of the task in terms of meaningful variables. The paper discusses the case of a one degree of freedom rolling grasp in the user oriented task description to solve a kinematic control problem for the cooperative system.
User-oriented task description for cooperative spatial manipulators: One-degree-of-freedom rolling grasp
CHIACCHIO, Pasquale;
1993-01-01
Abstract
The typical task of a cooperative two-arm system is to manipulate a common object. This demands for a task description in terms of absolute variables describing the motion of the object and relative variables describing the mutual location between the end effectors which in turn characterize the object grasp. An effective user oriented task description was established which defines the cooperative task for spatial manipulators as well as allows the user to give a direct specification of the task in terms of meaningful variables. The paper discusses the case of a one degree of freedom rolling grasp in the user oriented task description to solve a kinematic control problem for the cooperative system.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
