Author(s): GU Xinxin FENG Chunbo Institute of Automation, Southeast University, Nanjing
Pages: 20-22
Year: 1991 Issue:  5
Journal: Robot
Keyword:  collision avoidance; configuration space; closed chain; dual-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.