Name
Title | ||
|---|---|---|
A noninverting algorithm for path tracking of two cooperating robot arms and its parallel implementation |
Abstract | ||
|---|---|---|
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. |
Year | DOI | Venue |
|---|---|---|
1992 | 10.1007/BF00444291 | Journal of Intelligent and Robotic Systems |
Keywords | Field | DocType |
Path tracking,cooperating manipulators,parallel algorithms,inverse kinematics,constrained motion | Inertial frame of reference,Holonomic constraints,Inverse kinematics,Control theory,Parallel algorithm,Computer science,Algorithm,Control engineering,Gravitational singularity,Robot,Path tracking | Journal |
Volume | Issue | ISSN |
5 | 2 | 0921-0296 |
Citations | PageRank | References |
0 | 0.34 | 6 |
Authors | ||
2 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| S. D. Voliotis | 1 | 0 | 0.68 |
| M A Christodoulou | 2 | 49 | 11.09 |