In the last years some industrial robots have been realized with two robot arms connected to a single rotating platform. Such a redundant structure allows moving the platform to adjust each robot base for optimizing each arm movement. In this paper, a planar model of two 7-axis robots connected to a rotating platform is proposed, and a novel analytical optimization procedure, retrieved from a geometrical analysis, is presented.
Analytical Movement Optimization of Dual-Arm Planar Robots with Rotating Platform
Bottin M.;Rosati G.;Boschetti G.
2021
Abstract
In the last years some industrial robots have been realized with two robot arms connected to a single rotating platform. Such a redundant structure allows moving the platform to adjust each robot base for optimizing each arm movement. In this paper, a planar model of two 7-axis robots connected to a rotating platform is proposed, and a novel analytical optimization procedure, retrieved from a geometrical analysis, is presented.File in questo prodotto:
| File | Dimensione | Formato | |
|---|---|---|---|
|
MEDER 2021 - Analytical Movement Optimization of Dual-Arm Planar Robots with Rota.pdf
accesso aperto
Tipologia:
Postprint (accepted version)
Licenza:
Accesso libero
Dimensione
475.15 kB
Formato
Adobe PDF
|
475.15 kB | Adobe PDF | Visualizza/Apri |
Pubblicazioni consigliate
I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
