Abstract
In this paper, we consider "four-bar movements" of dual robot systems holding a common workpiece. These movements are used to determine the grasp points which guarantee that the workpiece does not leave the workspace of the system as it moves through three specified positions. The theory is developed for planar cooperating robots, however it can be generalized to general spatial systems. The result is a new application for solution rectification techniques in four-bar mechanism synthesis theory.
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© 1993 Springer-Verlag London Limited
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McCarthy, J.M., Bodduluri, R.M.C. (1993). Planning workpiece grasp points for cooperating robot movements. In: Morecki, A., Bianchi, G., Jaworek, K. (eds) RoManSy 9. Lecture Notes in Control and Information Sciences, vol 187. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0031449
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DOI: https://doi.org/10.1007/BFb0031449
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