Direct and Inverse Kinematics for Coordinated Motion Tasks of a Two-Manipulator System

DOI10.1115/1.2802344zbMath0879.70005OpenAlexW2004409499MaRDI QIDQ4336362

Stefano Chiaverini, Pasquale Chiacchio, Bruno Siciliano

Publication date: 2 June 1997

Published in: Journal of Dynamic Systems, Measurement, and Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1115/1.2802344

zbMATH Keywords

orientationpositioncontrol schemesredundant degrees of freedomsystem of two PUMA manipulatorstask formulationtask space variables

Mathematics Subject Classification ID

Computational methods for problems pertaining to mechanics of particles and systems (70-08) Kinematics of mechanisms and robots (70B15)

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Implementation of the given relative spherical and screw motions of two solids by a two-armed robot ⋮ Task-space regulation of cooperative manipulators

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