Experiments of Kinematic Control on a Two-Robot System
The adoption of multiple robots for executing enhanced manipulation tasks has been receiving a great deal of attention in the robotics research community.1–3 The key point is to achieve an effective coordination of the motion of the various robots. To this purpose, a new formulation has recently been proposed4,5 which allows a straightforward task specification for two cooperative robot manipulators in terms of absolute and relative variables. The kinematic model of the system is conveniently expressed in terms of the direct kinematics of the two manipulators.
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