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A cost function inspired by human arms movement for a bimanual robotic machining

Title
A cost function inspired by human arms movement for a bimanual robotic machining
Authors
Lee, JinohChang, Pyung-HunGweon, Dae-Gab
Issue Date
2012
Citation
, 5431-5436
Type
Conference
Article Type
Conference Paper
ISBN
9780000000000
ISSN
1050-4729
Abstract
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.
URI
http://hdl.handle.net/20.500.11750/3858
DOI
10.1109/ICRA.2012.6224643
Publisher
Institute of Electrical and Electronics Engineers Inc.
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