Closed-Chain Manipulation of Large Objects by Multi-Arm Robotic Systems

ABSTRACT:

Shut kinematic chains are made at whatever point various robot arms simultaneously control a solitary protest. The shut chain limitation, when combined with robot joint breaking points, drastically changes the network of the setup space. We propose a regrasping move, named “IK-switch,” which permits proficiently spanning segments of the setup space that are generally commonly disengaged. This move, joined with a few different improvements, for example, a strategy to settle the controlled protest utilizing nature, another tree structure, and a consistent control plot, empowers us to address complex shut chain control errands, for example, flipping a seat outline, which is generally difficult to acknowledge utilizing existing multi-arm arranging techniques.

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