2013
DOI: 10.1007/978-94-007-7214-4_14
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Positioning Two Redundant Arms for Cooperative Manipulation of Objects

Abstract: Bimanual manipulation of objects is receiving a lot of attention nowadays, but there is few literature addressing the design of the arms configuration. In this paper, we propose a way to analyze the relative positioning of two redundant arms, both equipped with spherical wrists, in order to obtain the best common workspace for grasping purposes. Considering the geometry of a robot with a spherical wrist, the Cartesian workspace can be discretized, with an easy representation of the feasible end-effector orient… Show more

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Cited by 1 publication
(1 citation statement)
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“…For a setup with two Whole Arm Manipulator [16] (WAM) robots (see Fig. 1.1), we used these inverse kinematics mappings and an encapsulation of all the possible orientation solutions for each Cartesian end-effector position, to evaluate and optimize the combined manipulability for the relative positioning of the two arms [17],…”
Section: Contributionsmentioning
confidence: 99%
“…For a setup with two Whole Arm Manipulator [16] (WAM) robots (see Fig. 1.1), we used these inverse kinematics mappings and an encapsulation of all the possible orientation solutions for each Cartesian end-effector position, to evaluate and optimize the combined manipulability for the relative positioning of the two arms [17],…”
Section: Contributionsmentioning
confidence: 99%