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Dual redundant arm system operational quality measures and their applications - Static measuresThe authors present dual-arm system static operational quality measures which quantify the efficiency and capability of a dual-arm system in generating Cartesian velocities and static forces. First, they define and analyze the kinematic interactions between the two arms incurred by the various modes of dual-arm cooperation, such as transport, assembly, and grasping modes of cooperation, and specify the kinematic constraints imposed on individual arms in Cartesian space due to the kinematic interactions. Dual-arm static manipulability is presented. Finally, dual-arm operational quality is scaled by a task-oriented operational quality measure (TOQs) obtained by the comparison between the desired and actual static manipulabilities. TOQs is used in the optimization of dual-arm joint configurations. Simulation results are shown.
Document ID
19920028942
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Lee, Sukhan
(JPL, Pasadena; Southern California, University Los Angeles, CA, United States)
Kim, Sungbok
(Southern California, University Los Angeles, CA, United States)
Date Acquired
August 15, 2013
Publication Date
January 1, 1990
Subject Category
Cybernetics
Meeting Information
Meeting: IEEE Conference on Decision and Control
Location: Honolulu, HI
Country: United States
Start Date: December 5, 1990
End Date: December 7, 1990
Accession Number
92A11566
Distribution Limits
Public
Copyright
Other

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