Abstract
This paper presents an algorithm for path tracking of two robot arms with end-effectors gripping a common inertial load. The path is generated as a sequence of elementary motions. The most important feature of the present algorithm is that it avoids singularities, because there is no need of using the inverse kinematics. Direction and proximity criteria are introduced. Holonomic constraints are formulated for the position and orientation of the two end-effectors.
The application of parallel processing methods to path tracking according to the previous algorithm is presented. The algorithm is implemented in the Alliant FX/80 parallel machine.
This is a preview of subscription content, log in via an institution to check access.
Similar content being viewed by others
Explore related subjects
Discover the latest articles, news and stories from top researchers in related subjects.References
Freund, E., On the design of multi-robot systems, Proc. IEEE Int. Conf. Robotics Automation, Atlanta, GA (1984), pp. 477–490.
Zheng, Y.F., and Luh, J.Y.S., Joint torques for control of two coordinated robots, Proc. IEEE Conf. Robotics Automation, San Francisco (1986).
Zheng, Y.F., and Luh, J.Y.S., Constrained relations between two coordinated robot in motion, Proc. 1985 Conf. Intelligent Systems and Machines, Rochester, Michigan (1985), pp. 23–24.
Zheng, Y.F., and Luh, J.Y.S., Control of two coordinated robots in motion, Proc. 24th IEEE Conf. Dec. Con., Ft. Lauderdale, FL (1985), pp. 1761–1766.
Whitney, D.E., The mathematics of coordinated control of prosthetic arms and manipulators, ASME J. Dyn. Sys. Meas. Cont. (1972).
Paul, R.P.C., Manipulator Cartesian path control, IEEE Trans. Systems Man Cybernet. SMC-9, (1979).
Craig, J.J., Introduction to Robotic Machines and Control, Addison-Wesley, Reading Mass (1986).
Litvin, F., Yi, Z., Castelli, V. and Innocenti, C., Singularities, configurations, and displacement functions for manipulators, Int. J. Rob. Res. 5(2), Summer (1986), 52–65.
Nakamura, Y., and Hanafusa, H., Inverse kinematic solutions with singularity robustness for robot manipulator control, Trans. ASME, J. Dyn. Sys., Meas. Cont. 109, 163–171 (1986).
Tumeh, Z.S., and Alford, C.O., Solving for Manipulator Joint Rates in Singular Positions, Proc. IEEE Int. Conf. Rob. & Aut., Philadelphia, PA (1988), pp. 987–992.
Deuchez, P., An easy way of controlling two cooperating robots handling light objects at low speed, 25th IEEE CDC, Athens (1986).
Voliotis, S.D., and Christodoulou, M.A., Coordinated control of two robot arms with a non-inverting algorithm, Int. Conf. Linear Algebra Appl., Valencia, Spain (1987).
Danielson, P.E., Incremental curve generation, IEEE Trans. Comput. C-19 (1970), 783–793.
Jordan, B.W., Lennon, W.S., and Holm, B.D., An improved algorithm for the generation of nonparametrics curves. IEEE Trans. Comput. C-22 (1973), 1052–1060.
Papaioannou, S.G., Interpolation algorithm for numerical control, Computers in Industry 1 (1979), 27–40.
Papaioannou, S.G., and Kiritsis, D., A non-inverting algorithm for robot positioning, Proc. 3rd Seminar Industrial Robots, Gyor, Hungary (1984).
Ranky, P.G., and Ho, C.Y., Robot Modeling Control and Applications, IFS (Publications), UK (1985).
Nof, S.Y., Handbook of Industrial Robotics, Wiley, New York (1985).
Hildebrand, F.B., Introduction to Numerical Analysis, McGraw-Hill, New York (1974).
Taylor, R.H., Planning and execution of straight line manipulator trajectories, IBM J. Res. Develop. 23 (1979), 424–436.
Krustev, E., and Lilov, L., Extended kinematic path control of robot arms, Robotica 5 (1987), 45–54.
Author information
Authors and Affiliations
Rights and permissions
About this article
Cite this article
Voliotis, S.D., Christodoulou, M.A. A noninverting algorithm for path tracking of two cooperating robot arms and its parallel implementation. J Intell Robot Syst 5, 105–127 (1992). https://doi.org/10.1007/BF00444291
Received:
Accepted:
Issue Date:
DOI: https://doi.org/10.1007/BF00444291