Realization of a Given Relative Motion of two Rigid Bodies by a Two-Armed Robot

The formulation of a new task of realizing a given relative motion of two rigid bodies by means of a robot having two manipulators is given. A method for constructing the movements of two-armed robots is proposed, which consists of solving the direct and inverse problems of manipulator kinematics, taking into account additional conditions for eliminating the dangerous rapprochement of links.Equations of relationships of parameters of relative motion of the working links of the manipulators are obtained with the relative movements of their adjacent links assumed for control functions. Expressions for control functions of manipulators are obtained for the realization of a given relative motion of the general form of two rigid bodies, and also for plane motion.Pointing to the possibility of crossing the working links under the action ofmanipulators in one work area, and obtained the relationships that allow these intersections to be avoided.