Performance Evaluation of the Grasp of Two Cooperating Robots Using a Type Map
For two cooperating robots holding a workpiece, the type map that relates the motion of the workpiece to the extensions of the arms can be used as a tool to characterize the performance of the system. These type maps are built using the discriminants of the closure equations. Several examples are presented to discuss the performance of the system, which is mainly dependant on the geometry of the grasp.
KeywordsType map cooperating robots fingers grasp
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