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)