Spatial coordination of a two-arm robot system subjected to kinematical and geometrical constraints

The spatial coordination of a two-arm robot is achieved by imposing on the robotic system model the proper geometrical and kinematical constraints. The closed loop formation is considered when both end-effectors of the two arms have one point in common or hold the same object from each side. Specified motions resulting from torque generated at the joint links are also considered. The collision avoidance between the two arms in space is illustrated through the use of a minimum distance to be maintained between two different points of the two arms. The governing equations of motion are derived using Kane's equations, and the constraint equations are handled through the generation of orthogonal complement arrays using the Pseudo-Uptriangular Decomposition method (PUTD). The algorithms developed are presented in a computer automated form suitable for computer-aided-desing and dynamic simulation.