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A cost function inspired by human arms movement for a bimanual robotic machining
- A cost function inspired by human arms movement for a bimanual robotic machining
- Lee, Jinoh; Chang, Pyung-Hun; Gweon, Dae-Gab
- Issue Date
- , 5431-5436
- Article Type
- Conference Paper
- This paper focuses on a kinematic redundancy resolution of bimanual robotic system for a machining task as a part of factory automation. Inspired by a study of human bimanual action, called Guiard's principles, a cost function is proposed by using task-compatibility indices. An acceleration-level redundancy resolution is provided via optimization of the cost function in order to reflect the role of human arm movement: one arm performs coarse motion, and the other fine motion. A dynamic simulation with two 6 degrees-of-freedom robots shows the effectiveness of the proposed idea. © 2012 IEEE.
- Institute of Electrical and Electronics Engineers Inc.
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