A noninverting algorithm for path tracking of two cooperating robot arms and its parallel implementation
✍ Scribed by S. D. Voliotis; M. A. Christodoulou
- Publisher
- Springer Netherlands
- Year
- 1992
- Tongue
- English
- Weight
- 1017 KB
- Volume
- 5
- Category
- Article
- ISSN
- 0921-0296
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✦ Synopsis
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 of using the inverse kinematics. Direction and proximity criteria are introduced. Holonomic constraints are formulated for the position and orientation of the two end-effectors.
The application of parallel processing methods to path tracking according to the previous algorithm is presented. The algorithm is implemented in the Alliant FX/80 parallel machine.