Dexterous reconfiguration of a two-arm robot system

Focuses attention on the mechanics and control aspects of cooperative robot systems. In particular, the authors are interested in investigating the problem of dexterous reconfiguration for such systems using proper manipulability indices. For the sake of exposition and interpretation of results, the study is focused on two-arm planar systems. An effective description of the cooperative task space is derived in terms of suitable absolute and relative task variables. A closed-loop inverse kinematics scheme, previously developed for single arms, is adopted to solve the non-trivial problem of finding the joint variables for the two-arm system when cooperative task space variables are assigned. In the case of kinematic redundancies, the scheme can also manage the introduction of additional constraint tasks