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Positioning two redundant arms for cooperative manipulation of objects

Autor
Colomé, A.; Torras, C.
Tipus d'activitat
Presentació treball a congrés
Nom de l'edició
6th International Workshop on Computational Kinematics
Any de l'edició
2013
Data de presentació
2014
Llibre d'actes
Proceedings of the 6th International Workshop on Computational Kinematics (CK2013)
Pàgina inicial
121
Pàgina final
129
Editor
Springer
DOI
https://doi.org/10.1007/978-94-007-7214-4_14 Obrir en finestra nova
Projecte finançador
IntellAct: Intelligent observation and execution of Actions and manipulations
Repositori
http://hdl.handle.net/2117/26083 Obrir en finestra nova
URL
http://dx.doi.org/10.1007/978-94-007-7214-4_14 Obrir en finestra nova
Resum
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-...
Citació
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.
Paraules clau
manipulators multi-robot systems robot kinematics Author keywords: cooperative manipulation, robot design
Grup de recerca
ROBiri - Grup de Robòtica de l'IRI

Participants