Abstract
The previous kinematic study of a pick-and-place robot with two entirely independent arms, is extended to the dynamic model of such a robot. The arms are seen as two players avoiding collision in any event. The corresponding game of kind gives the alloption program to the designer. A barrier between dexterous regions for each of the arms is determined. The method can be applied to a large class of multi-arm robots.
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© 1991 Springer-Verlag
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Ardema, M.D., Skowronski, J.M. (1991). Dynamic game applied to coordination control of two arm robotic system. In: Hämäläinen, R.P., Ehtamo, H.K. (eds) Differential Games — Developments in Modelling and Computation. Lecture Notes in Control and Information Sciences, vol 156. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0040233
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DOI: https://doi.org/10.1007/BFb0040233
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