WHEN TWO OR MORE ROBOTIC ARMS MUST COLLABORATE IN MOVING A COMMON WORKPIECE, THE ADMISSIBLE WORKSPACE IS MUCH SMALLER THAN THE WORKSPACE OF EACH INDIVIDUAL ROBOT END EFFECTOR BECAUSE OF THE MUTUAL EFFECTS OF THE ARMS ON EACH OTHER THROUGH THE OBJECT. UNLESS THE PARTICIPATING ARMS ARE KINEMATICALLY REDUNDANT, SUCH THAT EXTRA DEGREES OF FREEDOM ARE AVAILABLE, SEVERE LIMITATION IS IMPOSED TO THE MOTION OF WORKPIECE IF A FIRM PATH IS DEFINED FOR IT. THE RESULTS OF THIS WORK CAN BE INCORPORATED IN PATH PLANNING FOR COORDINATED MOTION OF TWO ARMS.
| Number of Pages : | 12 |
| Published : | 06/01/1994 |
