Mobility and kinematic analysis of general cooperating robot systems

The coordinator of the movements of multiple robot arms manipulating a common object is considered. In order to provide a general framework for the study of such cooperating systems as common industrial arms, multifingered hands, and legged vehicles, the analysis does not rely on the assumption of full mobility for each cooperating arm, which is otherwise common in related literature. The aim of the present work is to provide a systematic method to characterize the mobility and differential kinematics of general cooperating systems. The proposed analysis and algorithms provide an insight into the structure of the input (joint)-output (task) relationship of such systems