IN MOST AUTONOMOUS MOBILE MANIPULATOR SYSTEMS, THE MOBILE PLATFORM IS ONLY USED FOR TRANSPORTING THE MANIPULATORS BETWEEN SPATIALLY DISTRIBUTED ASSEMBLY STATIONS. IN GENERAL, THE MOBILITY OF THE PLATFORM CAN BE EXPLOITED TO ENLARGE THE WORKSPACE OF A MANIPULATOR SYSTEM (WITH ONE OR MULTIPLE ARMS) AT A SINGLE ASSEMBLY STATION. IN THIS ARTICLE, VARIOUS APPROACHES TO THE COOPERATION OF A MOBILE PLATFORM WITH ON-BOARD MANIPULATORS ARE INVESTIGATED. A CONCEPT FOR ONE TYPE OF COOPERATION IS INTRODUCED AND APPLIED TO AN EXISTING MOBILE TWO-ARM SYSTEM.
| Number of Pages : | 14 |
| Published : | 06/01/1994 |
