Multi-level criteria for dual-arm robotic operations

Dual-arm robotic systems with cooperating manipulators possess redundancy in drivability providing the opportunity for choice, or resource allocation, a fundamental quality of an intelligent machine. Criteria are necessary to make effective use of dual-arm robotic system resources, as well as to enhance performance. Decision-making criteria are presented which are based on parameters inherent to the two cooperating manipulators, and parameters intrinsic to cooperative modes of operation in dual-arm robots, thus the criteria are formulated at multiple levels within the dual-arm robotic system. Interactive computer graphics is used to investigate multi-level criteria with an example 17 degree-of-freedom robot performing cooperative dual-arm robotic operations