Coordination of two redundant robotsA solution is presented for the optimal force distributions of two redundant coordinating robots. Two robots whose end-effectors firmly grasp a common inertial load form a closed-chain structure, and thus the robots must observe a set of constraint conditions on (1) the end-effector positions, orientations, linear and angular velocities and (2) the forces and torques inserted onto the end-effectors by the load. To achieve the maximum load capability, the optimal force distribution under the known posture is developed. If the robots are redundant, joint solutions may be obtained if some optimization criterion such as manipulability is imposed. The singularity, manipulability, and force ellipsoids are investigated in terms of the two manipulator Jacobian matrices. The manipulability is shown to correspond to the cascade structure, while the force ellipsoid corresponds to the parallel structure in terms of the manipulator Jacobian matrices.
Document ID
19890066050
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Tao, Jian M. (Clemson Univ. SC, United States)
Luh, J. Y. S. (Clemson University SC, United States)
Date Acquired
August 14, 2013
Publication Date
January 1, 1989
Subject Category
Cybernetics
Meeting Information
Meeting: 1989 IEEE International Conference on Robotics and Automation