Exploiting two ambidextrous robotic arms for achieving cooperative tasks

摘要

This paper is about designing two ambidextrous robotic arms to achieve tasks cooperatively. The design is concerned with offering a flexible and humanlike dual arm behavior to be used as a true production partner with humans in different industrial and medical applications. After introducing the kinematics of this design, a new switched two functionality controller will be used to guide the actuators with an efficient method for planning the movement. Also a new and efficient algorithm of collision avoidance will be used. Experiments and results are given using the task of the Russian Matryoshka doll assembling and disassembling, which can be generalized to do any other sophisticated tasks.