Co-ordinated path tracking by two robot arms with a noninverting algorithm based on the simplex method
作者:
S.D.Voliotis,
G.I.Panopoulos,
M.A.Christodoulou,
期刊:
IEE Proceedings D (Control Theory and Applications)
(IET Available online 1990)
卷期:
Volume 137,
issue 6
页码: 390-396
年代: 1990
DOI:10.1049/ip-d.1990.0053
出版商: IEE
数据来源: IET
摘要:
This paper presents an algorithm for path tracking of two robot arms with end-effectors holding a common inertial load. The path is generated as a sequence of elementary motions. Each new position is defined as a function of the previous one. Holonomic constraints are imposed. The characteristic feature of the present algorithm is that it avoids singularities, because there is no need to use inverse kinematics.
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