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Positioning two redundant arms for cooperative manipulation of objects

Author
Colomé, A.; Torras, C.
Type of activity
Presentation of work at congresses
Name of edition
6th International Workshop on Computational Kinematics
Date of publication
2013
Presentation's date
2014
Book of congress proceedings
Proceedings of the 6th International Workshop on Computational Kinematics (CK2013)
First page
121
Last page
129
Publisher
Springer
DOI
https://doi.org/10.1007/978-94-007-7214-4_14 Open in new window
Project funding
IntellAct: Intelligent observation and execution of Actions and manipulations
Repository
http://hdl.handle.net/2117/26083 Open in new window
URL
http://dx.doi.org/10.1007/978-94-007-7214-4_14 Open in new window
Abstract
Bimanual manipulation of objects is receiving a lot of attention nowadays, but there is few literature addressing the design of the arms configuration. In this paper, we propose a way to analyze the relative positioning of two redundant arms, both equipped with spherical wrists, in order to obtain the best common workspace for grasping purposes. Considering the geometry of a robot with a spherical wrist, the Cartesian workspace can be discretized, with an easy representation of the feasible end-...
Citation
Colomé, A.; Torras, C. Positioning two redundant arms for cooperative manipulation of objects. A: International Workshop on Computational Kinematics. "Proceedings of the 6th International Workshop on Computational Kinematics (CK2013)". Barcelona: Springer, 2013, p. 121-129.
Keywords
manipulators multi-robot systems robot kinematics Author keywords: cooperative manipulation, robot design
Group of research
ROBiri - IRI Robotics Group

Participants