Interaction of Two Robots in Synchronized Operation

A kinematic model is proposed for the interaction of two robots in synchronized operation with complex motion of an object. The inverse kinematic problem is solved for two manipulators connected by the object being manipulated. Formulas are derived for the controllable generalized coordinates in gro...

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Veröffentlicht in:	Russian engineering research 2020-10, Vol.40 (10), p.804-808
Hauptverfasser:	Chizhikov, V. I., Kurnasov, E. V.
Format:	Artikel
Sprache:	eng
Schlagworte:	Engineering Engineering Design Kinematics Manipulators Object motion Robot dynamics Stability
Online-Zugang:	Volltext
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Beschreibung
Zusammenfassung:	A kinematic model is proposed for the interaction of two robots in synchronized operation with complex motion of an object. The inverse kinematic problem is solved for two manipulators connected by the object being manipulated. Formulas are derived for the controllable generalized coordinates in group control, with constraints corresponding to parallel manipulator operation.
ISSN:	1068-798X 1934-8088
DOI:	10.3103/S1068798X20100081