Cooperative Workspace of Dual-Arm Space Robot

摘要

Dual arm robots can broaden the activity of robot greatly.Exact computation of the boundary shape and volume or area of dual arm robot workspace is very important for its optimum design and application.A ground experimental system of a dual arm space robot in two-dimension is illustrated,and the kinematics model of the both arms is presented.According to the kinematics mapping from the joints space to the workspace,Monte Carlo method is used to generate robot workspace of each arm.The common region of both arm workspaces is determined by the theory of computer graphics,and is viewed as the cooperative workspace.