Cooperative Workspace of Dual-arm Space Robot
During servicing operations, free-floating space robots should be equipped with manipulator arms for accomplishing complex tasks. Dual arm robots are essential to dexterity and be broaden greatly the types of activities the robot can achieve. In the paper, a ground experimental system of a dual arm space robot in two-dimension was illustrated, and the kinematic model of the both arms was presented. Monte Carlo method was used to generate robot workspace of each arm, according to the kinematics mapping from the joints space to the workspace. The common region of both arm workspaces was determined by the theory of computer graphics, and was viewed as the cooperative workspace. The algorithm presented here is the primitive result, and works well for most robot manipulators, especially hyper-redundant robot.
cooperative workspace space robot Monte Carlo method common region
CAO Yi XIONG Xinmin LU Ke YANG Guanying
School of Electrical Engineering, Henan University of Technology, Zhengzhou, China, 450007
国际会议
北京
英文
2007-08-05（万方平台首次上网日期，不代表论文的发表时间）