Kinematics of two-arm robots
- 1 December 1986
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Journal on Robotics and Automation
- Vol. 2 (4) , 225-228
- https://doi.org/10.1109/jra.1986.1087058
Abstract
As a first step in control of two-arm robots, it is necessary to determine the kinematic relationships between the two end-effectors at any instant. The elements Of the orientation-position matrix of a dual (slave) arm are obtained in terms of those of the main (master) arm, so that the kinematic equations of each can be individually solved.Keywords
This publication has 11 references indexed in Scilit:
- Collision avoidance for robots in an experimental flexible assembly cellPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2005
- Coordinated control of two robot armsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2005
- Obstacle avoidance using an octree in the configuration space of a manipulatorPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2005
- A complete generalized solution to the inverse kinematics of robotsIEEE Journal on Robotics and Automation, 1985
- Wrist-Partitioned, Inverse Kinematic Accelerations and Manipulator DynamicsThe International Journal of Robotics Research, 1983
- Position and Velocity Transformations Between Robot End-Effector Coordinates and Joint AnglesThe International Journal of Robotics Research, 1983
- Robot Arm Kinematics, Dynamics, and ControlComputer, 1982
- Kinematic equations for industrial manipulatorsIndustrial Robot: the international journal of robotics research and application, 1982
- Control of Force Distribution in Robotic Mechanisms Containing Closed Kinematic ChainsJournal of Dynamic Systems, Measurement, and Control, 1981
- Kinematic Control Equations for Simple ManipulatorsIEEE Transactions on Systems, Man, and Cybernetics, 1981