Title :
Kinematics of two-arm robots
Author_Institution :
Concordia University, West Montreal, PQ, Canada
fDate :
12/1/1986 12:00:00 AM
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;
Journal_Title :
Robotics and Automation, IEEE Journal of
DOI :
10.1109/JRA.1986.1087058
