DocumentCode
1205573
Title
Kinematics of two-arm robots
Author
Hemami, Ahmad
Author_Institution
Concordia University, West Montreal, PQ, Canada
Volume
2
Issue
4
fYear
1986
fDate
12/1/1986 12:00:00 AM
Firstpage
225
Lastpage
228
Abstract
As a first step in control of two-arm robots, it is necessary to determine the kinematic relationships between the two end-effectors at any instant. The elements Of the orientation-position matrix of a dual (slave) arm are obtained in terms of those of the main (master) arm, so that the kinematic equations of each can be individually solved.
Keywords
Mechanical factors; Robots; Arm; Equations; Grippers; Manipulators; Master-slave; Motion control; Robot control; Robot kinematics; Robotic assembly; Robotics and automation;
fLanguage
English
Journal_Title
Robotics and Automation, IEEE Journal of
Publisher
ieee
ISSN
0882-4967
Type
jour
DOI
10.1109/JRA.1986.1087058
Filename
1087058
Link To Document