The definition of manipulability ellipsoids for dual robot systems is given. A suitable kineto-static formulation for dual cooperative robots is adopted which allows for a global task space description of external and internal forces, and relative velocities. The well known concepts of force and velocity manipulability ellipsoids for a single robot are formally extended and the contributions of the two single robots to the cooperative system ellipsoids are illustrated. Duality properties are discussed. A practical case study is developed.


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    Titel :

    On the manipulability of dual cooperative robots


    Beteiligte:
    Chiacchio, P. (Autor:in) / Chiaverini, S. (Autor:in) / Sciavicco, L. (Autor:in) / Siciliano, B. (Autor:in)


    Erscheinungsdatum :

    1989-01-31


    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Keine Angabe


    Sprache :

    Englisch




    Manipulability of Dual Cooperative Robots

    P. Chiacchio / S. Chiaverini / L. Sciavicco et al. | NTIS | 1989




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