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ji qi ren shuang shou xie diao xi tong de duo bi zhang ai wen ti
Pages: 20-22
Year: Issue:  5
Journal: Robot

Keyword:  collision avoidanceconfiguration spaceclosed chaindual-robot arms coordination;
Abstract: This paper investigates the configuration space description and collision avoidance problem fordual-robot coordination system, the two cooperating robot arms is modelled as a closed chain system dueto constrained relationship, then an algorithm computing the degree of freedom is given by Wittenburgmethod, and the explicit representation of the reachable configuration space is presented, finally, a proce-dure solving the paths planning problem for two cooperating robots in the presence of obstacles is devel-oped.
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