Kinematic Analysis of Lower Mobility Cooperative Arms by Screw Theory

Philip Long, Wisama Khalil, Stéphane Caro

Abstract

This paper studies the kinematic modeling and analysis of a system with two cooperative manipulators, working together on a common task. The task is defined as the transportation of an object in space. The cooperative system is the dual armed humanoid Nao robot, where the serial architecture of each arm has five degrees of freedom. The mobility of the closed loop system is analyzed and the nature of the possible motion explored. The serial singular configurations of the system are considered. Furthermore the parallel singularities of the closed loop system associated with each actuation scheme are analyzed.

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Paper Citation


in Harvard Style

Long P., Khalil W. and Caro S. (2012). Kinematic Analysis of Lower Mobility Cooperative Arms by Screw Theory . In Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8565-22-8, pages 280-285. DOI: 10.5220/0004039202800285


in Bibtex Style

@conference{icinco12,
author={Philip Long and Wisama Khalil and Stéphane Caro},
title={Kinematic Analysis of Lower Mobility Cooperative Arms by Screw Theory},
booktitle={Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2012},
pages={280-285},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004039202800285},
isbn={978-989-8565-22-8},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Kinematic Analysis of Lower Mobility Cooperative Arms by Screw Theory
SN - 978-989-8565-22-8
AU - Long P.
AU - Khalil W.
AU - Caro S.
PY - 2012
SP - 280
EP - 285
DO - 10.5220/0004039202800285