Paper presents rigorous mathematical approach to control of multiple robot arms simultaneously grasping one object. Mathematical development focuses on relationship between ability to control degrees of freedom of configuration and ability to control forces within grasped object and robot arms. Understanding of relationship leads to practical control schemes distributing load more equitably among all arms while grasping object with proper nondamaging forces.
Balancing Loads Among Robotic-Manipulator Arms
NASA Tech Briefs ; 14 , 9
1990-09-01
Sonstige
Keine Angabe
Englisch
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