Trajectory generation for two robots cooperating to perform a task

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This paper formulates an algorithm for trajectory generation for two robots cooperating to perform an assembly task. Treating the two robots as a single redundant system, this paper derives two Jacobian matrices which relate the joint rates of the entire system to the relative motion of the grippers with respect to one another. The advantage of this formulation over existing methods is that a variety of secondary criteria can be conveniently satisfied using motion in the null-space of the relative Jacobian. This paper presents methods for generating dual-arm joint trajectories which perform assembly tasks while at the same time avoiding ... continued below

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12 p.

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Lewis, C.L. October 1, 1995.

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This article is part of the collection entitled: Office of Scientific & Technical Information Technical Reports and was provided by UNT Libraries Government Documents Department to Digital Library, a digital repository hosted by the UNT Libraries. More information about this article can be viewed below.

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  • Sandia National Laboratories
    Publisher Info: Sandia National Labs., Albuquerque, NM (United States)
    Place of Publication: Albuquerque, New Mexico

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Description

This paper formulates an algorithm for trajectory generation for two robots cooperating to perform an assembly task. Treating the two robots as a single redundant system, this paper derives two Jacobian matrices which relate the joint rates of the entire system to the relative motion of the grippers with respect to one another. The advantage of this formulation over existing methods is that a variety of secondary criteria can be conveniently satisfied using motion in the null-space of the relative Jacobian. This paper presents methods for generating dual-arm joint trajectories which perform assembly tasks while at the same time avoiding obstacles and joint limits, and also maintaining constraints on the absolute position and orientation of the end-effectors.

Physical Description

12 p.

Notes

INIS; OSTI as DE96001725

Source

  • IEEE international conference on robotics and automation, Minneapolis, MN (United States), 22-28 Apr 1996

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  • Other: DE96001725
  • Report No.: SAND--95-2196C
  • Report No.: CONF-960448--4
  • Grant Number: AC04-94AL85000
  • Office of Scientific & Technical Information Report Number: 202433
  • Archival Resource Key: ark:/67531/metadc667866

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Office of Scientific & Technical Information Technical Reports

Reports, articles and other documents harvested from the Office of Scientific and Technical Information.

Office of Scientific and Technical Information (OSTI) is the Department of Energy (DOE) office that collects, preserves, and disseminates DOE-sponsored research and development (R&D) results that are the outcomes of R&D projects or other funded activities at DOE labs and facilities nationwide and grantees at universities and other institutions.

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Creation Date

  • October 1, 1995

Added to The UNT Digital Library

  • June 29, 2015, 9:42 p.m.

Description Last Updated

  • April 14, 2016, 1:53 p.m.

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Lewis, C.L. Trajectory generation for two robots cooperating to perform a task, article, October 1, 1995; Albuquerque, New Mexico. (digital.library.unt.edu/ark:/67531/metadc667866/: accessed October 19, 2018), University of North Texas Libraries, Digital Library, digital.library.unt.edu; crediting UNT Libraries Government Documents Department.