{"title":"双臂机器人运动学","authors":"A. Hemami","doi":"10.1109/JRA.1986.1087058","DOIUrl":null,"url":null,"abstract":"As a first step in control of two-arm robots, it is necessary to determine the kinematic relationships between the two end-effectors at any instant. The elements Of the orientation-position matrix of a dual (slave) arm are obtained in terms of those of the main (master) arm, so that the kinematic equations of each can be individually solved.","PeriodicalId":370047,"journal":{"name":"IEEE J. Robotics Autom.","volume":"20 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1986-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"28","resultStr":"{\"title\":\"Kinematics of two-arm robots\",\"authors\":\"A. Hemami\",\"doi\":\"10.1109/JRA.1986.1087058\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"As a first step in control of two-arm robots, it is necessary to determine the kinematic relationships between the two end-effectors at any instant. The elements Of the orientation-position matrix of a dual (slave) arm are obtained in terms of those of the main (master) arm, so that the kinematic equations of each can be individually solved.\",\"PeriodicalId\":370047,\"journal\":{\"name\":\"IEEE J. Robotics Autom.\",\"volume\":\"20 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"1986-12-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"28\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"IEEE J. Robotics Autom.\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/JRA.1986.1087058\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"IEEE J. Robotics Autom.","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/JRA.1986.1087058","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
As a first step in control of two-arm robots, it is necessary to determine the kinematic relationships between the two end-effectors at any instant. The elements Of the orientation-position matrix of a dual (slave) arm are obtained in terms of those of the main (master) arm, so that the kinematic equations of each can be individually solved.
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