Dynamic task distribution for multiple cooperating robot manipulators
- 6 January 2003
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 1288-1290 vol.2
- https://doi.org/10.1109/robot.1988.12238
Abstract
The issue of distributing the task among the multiple robot arms while considering the manipulator dynamics is considered. The forces and moments required to move an object are distributed in such a way that extra degrees of freedom within the system may be used to satisfy or optimize criteria related to the manipulator dynamics. A method to perform such subtasks is introduced, and examples of possible criteria noted. It is expected that such techniques will produce trajectories which will be more desirable for the individual arms, dynamically, since the dynamics are considered in the task distribution.<>Keywords
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