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A control scheme for two cooperating robot arms

✍ Scribed by Joonhong Lim; Dong Chyung


Book ID
114579241
Publisher
IEEE
Year
1987
Tongue
English
Weight
495 KB
Volume
7
Category
Article
ISSN
1066-033X

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Akstract. This paper presents an algorithm for path tracking of two robot arms with end-effectors gripping a common inertial load. The path is generated as a sequence of elementary motions. The most important feature of the present algorithm is that it avoids singularities, because there is no need