Abstract
In this paper we consider the set of orientations available to the workpiece held by a pair of cooperating robot arms. The rotational terms in the kinematics equations of the system define constraints on the orientation of the workpiece that can be viewed as a spherical linkage, called the spherical image of the robot system. We determine the differential volume element for this orientation workspace and examine two cases, a near planar spherical 6R, and a 6R with orthogonal joint axes which is a model for the case of cooperating PUMA Robots.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Bodduluri, R. M. C., Design and Planned Movement of Multi-degree of F3eedom Spatial Mechanisms. Dissertation, University of California, Irvine, 165pp., 1990.
Do Carmo, M. P., Riemannian Geometry. Birkhauser, Boston, 300pp., 1992.
Dooley, J. R., and McCarthy, J. M., On the Geometric Analysis of Optimum Trajectories for Cooperating Robots using Dual Quaternion Coordinates. Proc. IEEE Int. Conf. on Robotics and Automation. pp. 1031-1036., 1993.
Duffy, J. Analysis of Mechanisms and Robot Manipulators. Edward Arnold, London, 419pp., 1980.
Ge, Q. J., Kinematic Constraints as Algebraic Manifolds in the Clifford Algebra of Projective Three Space. Dissertation, University of California, Irvine, 160pp., 1990.
Hsu, P., Adaptive Coordination of a Multiple Manipulator System. Proc. IEEE Int. Conf. on Robotics and Automation. pp. 259-264., 1993.
Kerr, J., and Roth, B., Analysis of Multifingered Hands. Int. J. of Robotics Research. 4(4): 3-17, 1986.
McCarthy, J. M., An Introduction to Theoretical Kinematics. MIT Press, Cambridge, MA, 1990.
Paljug, E., and Yun, X., Experimental Results of Two Robot Arms Manipulating Large Objects. Proc. IEEE Int. Conf. on Robotics and Automation. pp. 517-522., 1993.
Xi, N., Tarn, T. J., and Bejczy, A., Event-Based Planning and Control for Multiple Manipulator Systems. Proc. IEEE Int. Conf. on Robotics and Automation. pp. 251258,1993.
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 1994 Springer Science+Business Media Dordrecht
About this chapter
Cite this chapter
Murray, A.P., McCarthy, J.M. (1994). Characterizing the Workspace of the Spherical Image of Cooperating Robots. In: Lenarčič, J., Ravani, B. (eds) Advances in Robot Kinematics and Computational Geometry. Springer, Dordrecht. https://doi.org/10.1007/978-94-015-8348-0_2
Download citation
DOI: https://doi.org/10.1007/978-94-015-8348-0_2
Publisher Name: Springer, Dordrecht
Print ISBN: 978-90-481-4434-1
Online ISBN: 978-94-015-8348-0
eBook Packages: Springer Book Archive