Kinematic Analysis of Lower Mobility Cooperative Arms by Screw Theory

Philip Long; Wisama Khalil; Stéphane Caro

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Paper

Kinematic Analysis of Lower Mobility Cooperative Arms by Screw Theory

Topics: Humanoid Robots; Modeling, Simulation and Architecture

In Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, 280-285, 2012 , Rome, Italy

Authors: Philip Long ; Wisama Khalil and Stéphane Caro

Affiliation: École Centrale de Nantes, France

Keyword(s): Cooperative Manipulators, Humanoid Robots, Screw Theory.

Related Ontology Subjects/Areas/Topics: Humanoid Robots ; Informatics in Control, Automation and Robotics ; Modeling, Simulation and Architectures ; Robotics and Automation

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 several formats:

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; ISSN 2184-2809, SciTePress, pages 280-285. DOI: 10.5220/0004039202800285

@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},
issn={2184-2809},
}

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
IS - 2184-2809
AU - Long, P.
AU - Khalil, W.
AU - Caro, S.
PY - 2012
SP - 280
EP - 285
DO - 10.5220/0004039202800285
PB - SciTePress