Acceleration Bounds of Cooperating Two Robots under Dynamical Constraint

동적 제약 조건하에서 두 대 로봇이 공동으로 잡고 나르는 물체의 최대 가속도 범위 해석

In this paper, dynamic constraints are considered for the analysis of manipulability of robotics systems comprised of two cooperating arms. Given bounds on the torques of joint actuators for each robot, the purpose of this study is to derive the bounds of task acceleration of object carried by the system. Under the assumption of complete constraint contact, a set of examplar polytope describing acceleration bounds of two cooperating robots are included.