For the situation of multiple cooperating manipulators handling a single object,an equilibrium equation is presented in which the manipulator dynamics and control forces/torques are taken into account,and a expression...For the situation of multiple cooperating manipulators handling a single object,an equilibrium equation is presented in which the manipulator dynamics and control forces/torques are taken into account,and a expression is derived to allow the optimal dynamic load distribution of the combined system can be made.展开更多
Dual redundant manipulators are extremely useful for tasks in dangerous or space environments, but efficient and real time coordinated control is hard to achieve. Collision avoidance between two cooperative manipulat...Dual redundant manipulators are extremely useful for tasks in dangerous or space environments, but efficient and real time coordinated control is hard to achieve. Collision avoidance between two cooperative manipulators is vital to the successful applications of dual redundant manipulators. Although methods based on the distance function have been demonstrated simple and efficient, different collision avoidance points can usually produce completely different results and even failure. The paper discussed the choices of collision avoidance points and proposed a novel method for the choosing of those points. The method is testified by simulation results of two redundant planar manipulators.展开更多
文摘For the situation of multiple cooperating manipulators handling a single object,an equilibrium equation is presented in which the manipulator dynamics and control forces/torques are taken into account,and a expression is derived to allow the optimal dynamic load distribution of the combined system can be made.
文摘Dual redundant manipulators are extremely useful for tasks in dangerous or space environments, but efficient and real time coordinated control is hard to achieve. Collision avoidance between two cooperative manipulators is vital to the successful applications of dual redundant manipulators. Although methods based on the distance function have been demonstrated simple and efficient, different collision avoidance points can usually produce completely different results and even failure. The paper discussed the choices of collision avoidance points and proposed a novel method for the choosing of those points. The method is testified by simulation results of two redundant planar manipulators.
