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Proceedings Paper

Decision-making criteria for intelligent control of dual-arm robots with cooperating manipulators
Author(s): Daniel J. Cox; Delbert Tesar
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Paper Abstract

Cooperating manipulators in dual-arm robots usually result in a mechanically overconstrained system having more actuator resources than freedom of motion, or an excess of actuator inputs. Decision-making criteria are necessary to make effective use of dual-arm robotic system resources, as well as to enhance performance for either telerobotic or autonomous dual-arm robots. The decision-making criteria are based on parameters inherent to the two cooperating manipulators, and parameters intrinsic to cooperative modes of operation in dual- arm robots. There are many criteria that need to be evaluated and balanced in a complete decision-making system for dual-arm robots. A set of decision-making criteria for dual-arm robots is proposed from which a subset is examined in detail. A graphical simulation of a 17 degree-of-freedom robot performing cooperative dual-arm robotic operations is used to interactively study and evaluate multiple decision-making criteria for dual-arm robots.

Paper Details

Date Published: 21 December 1993
PDF: 14 pages
Proc. SPIE 2057, Telemanipulator Technology and Space Telerobotics, (21 December 1993); doi: 10.1117/12.164922
Show Author Affiliations
Daniel J. Cox, IBM Corp. (United States)
Delbert Tesar, Univ. of Texas/Austin (United States)


Published in SPIE Proceedings Vol. 2057:
Telemanipulator Technology and Space Telerobotics
Won Soo Kim, Editor(s)

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