Abstract

This article proposes a technique for coordinating the movements of operating links of two-armed robotic systems with six degrees of freedom. The technique is based on introducing relative positioning matrices for the output links of the mechanical arms and solving reverse problems of the relative manipulator positioning. Manipulators with three degrees of freedom are viewed as mechanical arms. The reverse problems of manipulator positioning are solved, whic allow making output manipulator links carry out preset relative movements as solid bodies.

中文翻译：

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两臂机器人系统相对程序动作的配置技术

摘要

本文提出了一种用于协调具有六个自由度的双臂机器人系统的操作链接运动的技术。该技术基于为机械臂的输出连杆引入相对定位矩阵并解决相对机械手定位的反向问题。具有三个自由度的机械手被视为机械臂。解决了机械手定位的反向问题，这允许使输出机械手连杆以固体形式进行预设的相对运动。