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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Suh, I.H. Shin, K.G. |
| Copyright Year | 1988 |
| Description | Author affiliation: Dept. of Electron. Eng., Hanyang Univ., Seoul, South Korea (Suh, I.H.) |
| Abstract | A method is developed to coordinate the motion of dual robot arms carrying a solid object, where the first robot (leader) grasps one end of the object rigidly and the second robot (follower) is allowed to change its grasping position at the other end of the object along the object surface while supporting the object. It is shown that this flexible grasping is equivalent to the addition of one more degree of freedom, giving the follower more maneuvering capabilities. Especially, motion commands for the follower are generated by using kinematic redundancy. To show the utility and power of the method, an example system with two PUMA 560 robots carrying a beam is analyzed. |
| Starting Page | 504 |
| Ending Page | 509 |
| File Size | 461174 |
| Page Count | 6 |
| File Format | |
| ISBN | 0818608528 |
| DOI | 10.1109/ROBOT.1988.12102 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 1988-04-24 |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Robot kinematics Manipulators Solids End effectors Ambient intelligence Motion planning Motion control Velocity control Cost function Ball bearings |
| Content Type | Text |
| Resource Type | Article |
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