Loading...
Please wait, while we are loading the content...
Similar Documents
Redundancy analysis of cooperative dual-arm manipulators
| Content Provider | SAGE Publishing |
|---|---|
| Author | Freddi, Alessandro Longhi, Sauro Monteriù, Andrea Ortenzi, Davide |
| Copyright Year | 2016 |
| Abstract | This paper presents the redundancy analysis of two cooperative manipulators, showing how they can be considered as a single redundant manipulator through the use of the relative Jacobian matrix. In this way, the kinematic redundancy can be resolved by applying the principal local optimization techniques used in the single manipulator case. We resolve the redundancy by using the Jacobian null space technique, which permits us to perform several tasks with different execution priority levels at the same time; this is a useful feature, especially when the manipulators are to be mounted on and cooperate with a mobile platform. As an illustrative example, we present a case study consisting of two planar manipulators mounted on a smart wheelchair, whose degrees of redundancy are employed to move an object along a pre-defined path, while avoiding an obstacle in the manipulator’s workspace at the same time. |
| Related Links | https://journals.sagepub.com/doi/pdf/10.1177/1729881416657754?download=true |
| ISSN | 17298806 |
| Issue Number | 5 |
| Volume Number | 13 |
| Journal | International Journal of Advanced Robotic Systems (ARX) |
| e-ISSN | 17298814 |
| DOI | 10.1177/1729881416657754 |
| Language | English |
| Publisher | Sage Publications UK |
| Publisher Date | 2016-10-24 |
| Publisher Place | London |
| Access Restriction | Open |
| Rights Holder | © The Author(s) 2016 |
| Subject Keyword | assistive manipulators null space Kinematic redundancy dual-arm manipulators redundancy problem relative Jacobian wheelchair mounted robotic arms |
| Content Type | Text |
| Resource Type | Article |
| Subject | Artificial Intelligence Computer Science Applications Software |
