2004•World Automation CongressRequires access

A geometric control algebra for cooperative manipulation

Daniel Cox

Abstract

A geometric control algebra, represented using hybrid twist and wrench screw theory, is provided and described for cooperating manipulators to model dual-arm robotic operations. In addition to the system model of the manipulators, cooperative dual-arm robotic operations are incorporated using hybrid twist and wrench screw theory into the geometric control algebra. Single-object and two-object operations are based on hybrid twist and wrench screw theory thereby providing the fundamental relationships for freedom of motion and constraint for the dual-arm robotic operations

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Available abstract

Key concepts: Wrench, Screw theory, Dual (grammatical number), Object (grammar), Twist, Serial manipulator, Algebra over a field, Constraint (computer-aided design)