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A cost function inspired by human arms movement for a bimanual robotic machining | IEEE Conference Publication | IEEE Xplore

A cost function inspired by human arms movement for a bimanual robotic machining


Abstract:

This paper focuses on a kinematic redundancy resolution of bimanual robotic system for a machining task as a part of factory automation. Inspired by a study of human bima...Show More

Abstract:

This paper focuses on a kinematic redundancy resolution of bimanual robotic system for a machining task as a part of factory automation. Inspired by a study of human bimanual action, called Guiard's principles, a cost function is proposed by using task-compatibility indices. An acceleration-level redundancy resolution is provided via optimization of the cost function in order to reflect the role of human arm movement: one arm performs coarse motion, and the other fine motion. A dynamic simulation with two 6 degrees-of-freedom robots shows the effectiveness of the proposed idea.
Date of Conference: 14-18 May 2012
Date Added to IEEE Xplore: 28 June 2012
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Conference Location: Saint Paul, MN, USA

References

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