Path verification for coordinated motion of two arms

This work concerns studies on the primary problem of whether a material handling task to be executed by two collaborating robot arms is kinematically possible. For any task, the configuration of the two endeffectors at all instants must be reachable from the viewpoint of the joint variables which must remain within the range of their allowable limits. In other words for any task to be executable the object held by the two endeffectors is limited to move only inside a working envelope. The associated working envelope depends on the two robot arms as well as the object, and their relative geometry, that is, the orientation of the object and the way it is held by the two endeffectors. In fact, this envelope is the function of the specifications of the triplet.

For a pair of arms carrying an object four different tasks can be considered; for two of these the possibility of a desired motion is investigated. Such a study will verify the feasibility of a task, or will determine the required changes to be made in order to make it feasible.