Simultaneous repetitive motion planning of two redundant robot arms for acceleration-level cooperative manipulation

• Published in: Physics letters. A Vol. 377; no. 34-36; pp. 1979 - 1983
• Main Authors: Zhang, Yunong, Wang, Ying, Guo, Dongsheng, Yu, Xiaotian, Xiao, Lin
• Format: Journal Article
• Language: English
• Published: Elsevier B.V 01.11.2013
• Subjects: Computer simulation; Feasibility; Joint-acceleration level; Motion planning; Quadratic program; Quadratic programming; Redundant; Remedies; Robot arms; Simultaneous repetitive motion planning; Solid state physics; Two redundant robot arms; Quadratic program; Two redundant robot arms; Joint-acceleration level; Simultaneous repetitive motion planning

This Letter proposes a novel simultaneous repetitive motion planning (SRMP) scheme of two redundant robot arms for cooperative manipulation. To remedy the joint-angle drift phenomenon, two SRMP subschemes are exploited at the joint-acceleration level. The subschemes are then simultaneously reformula...