Title :
Co-ordinated path tracking by two robot arms with a noninverting algorithm based on the simplex method
Author :
Voliotis, S.D. ; Panopoulos, G.I. ; Christodoulou, M.A.
Author_Institution :
Dept. of Comput. Eng., Sch. of Eng., Comput. Technol. Inst., Patras Univ., Greece
fDate :
11/1/1990 12:00:00 AM
Abstract :
Presents an algorithm for path tracking of two robot arms with end-effectors holding a common inertial load. The path is generated as a sequence of elementary motions. Each new position is defined as a function of the previous one. Holonomic constraints are imposed. The characteristic feature of the present algorithm is that it avoids singularities, because there is no need to use inverse kinematics.
Keywords :
optimisation; position control; robots; common inertial load; coordinated path stacking; end-effectors; holonomic constraints; noninverting algorithm; robot arms; simplex method;
Journal_Title :
Control Theory and Applications, IEE Proceedings D
