Decision-making criteria for intelligent control of dual-arm robots with cooperating manipulators

Daniel J. Cox; Delbert Tesar

doi:10.1117/12.164922

21 December 1993 Decision-making criteria for intelligent control of dual-arm robots with cooperating manipulators

Daniel J. Cox, Delbert Tesar

Proceedings Volume 2057, Telemanipulator Technology and Space Telerobotics; (1993) https://doi.org/10.1117/12.164922
Event: Optical Tools for Manufacturing and Advanced Automation, 1993, Boston, MA, United States

Abstract

Cooperating manipulators in dual-arm robots usually result in a mechanically overconstrained system having more actuator resources than freedom of motion, or an excess of actuator inputs. Decision-making criteria are necessary to make effective use of dual-arm robotic system resources, as well as to enhance performance for either telerobotic or autonomous dual-arm robots. The decision-making criteria are based on parameters inherent to the two cooperating manipulators, and parameters intrinsic to cooperative modes of operation in dual- arm robots. There are many criteria that need to be evaluated and balanced in a complete decision-making system for dual-arm robots. A set of decision-making criteria for dual-arm robots is proposed from which a subset is examined in detail. A graphical simulation of a 17 degree-of-freedom robot performing cooperative dual-arm robotic operations is used to interactively study and evaluate multiple decision-making criteria for dual-arm robots.

Citation Download Citation

Daniel J. Cox and Delbert Tesar "Decision-making criteria for intelligent control of dual-arm robots with cooperating manipulators", Proc. SPIE 2057, Telemanipulator Technology and Space Telerobotics, (21 December 1993); https://doi.org/10.1117/12.164922

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