Title :
Performance analysis of a two arm robot
Author :
Buckingham, R.O. ; Brett, P.N. ; Khodabandehloo, K.
Author_Institution :
Adv. Manuf. & Autom. Res. Cetre, Bristol Univ., UK
Abstract :
There is a need to assess the kinestatic performance of robots because of the large variations in performance within the reachable workspace which are due entirely to the robot kinematic design. A description of kinestatic performance measures is given, and the advantages of using the force transmission ratio are presented. Such measures have been shown to be useful in the design of position and force trajectories for two arm robots
Keywords :
control system analysis; force control; kinematics; position control; robots; force control; force transmission ratio; kinematic; kinestatic performance; performance measures; position control; two arm robot;
Conference_Titel :
Multi-Arm Robotics, IEE Colloquium on
Conference_Location :
London
