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Co-ordinated path tracking by two robot arms with a noninverting algorithm based on the simplex method

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3 Author(s)
Voliotis, S.D. ; Dept. of Comput. Eng., Sch. of Eng., Comput. Technol. Inst., Patras Univ., Greece ; Panopoulos, G.I. ; Christodoulou, M.A.

Presents an algorithm for path tracking of two robot arms with end-effectors holding a common inertial load. The path is generated as a sequence of elementary motions. Each new position is defined as a function of the previous one. Holonomic constraints are imposed. The characteristic feature of the present algorithm is that it avoids singularities, because there is no need to use inverse kinematics.

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Control Theory and Applications, IEE Proceedings D  (Volume:137 ,  Issue: 6 )