Redundancy analysis of cooperative dual-arm manipulators
| Autor: | Alessandro Freddi, Sauro Longhi, Andrea Monteriù, Davide Ortenzi |
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| Jazyk: | angličtina |
| Rok vydání: | 2016 |
| Předmět: | |
| Zdroj: | International Journal of Advanced Robotic Systems, Vol 13 (2016) |
| Druh dokumentu: | article |
| ISSN: | 1729-8814 17298814 |
| DOI: | 10.1177/1729881416657754 |
| Popis: | 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. |
| Databáze: | Directory of Open Access Journals |
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