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Characterizing the Workspace of the Spherical Image of Cooperating Robots

  • A. P. Murray
  • J. M. McCarthy
Chapter

Abstract

In this paper we consider the set of orientations available to the workpiece held by a pair of cooperating robot arms. The rotational terms in the kinematics equations of the system define constraints on the orientation of the workpiece that can be viewed as a spherical linkage, called the spherical image of the robot system. We determine the differential volume element for this orientation workspace and examine two cases, a near planar spherical 6R, and a 6R with orthogonal joint axes which is a model for the case of cooperating PUMA Robots.

Keywords

Clifford Algebra Twist Angle Revolute Joint Wrist Joint Spherical Image 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer Science+Business Media Dordrecht 1994

Authors and Affiliations

  • A. P. Murray
    • 1
  • J. M. McCarthy
    • 1
  1. 1.Department of Mechanical EngineeringUniversity of California IrvineIrvineUSA

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