A study on co‐operative motion planning of a dual manipulator system for measuring radioactivity
Abstract
Purpose
The aim of this paper is to describe how to make a co‐operative motion plan for a dual manipulator system to measure the radioactivity of wastes produced in decommissioning a nuclear power plant.
Design/methodology/approach
The system consists of two tasks: the main task generates the path of the measuring operation and the subtask maintains a good working position by co‐operative motion of the two manipulators.
Findings
A dual manipulator system requires an effective indicator of the current working position for the realisation of flexible co‐operative motion. Extended manipulability, which takes the motion limit of each joint angle into consideration, is shown to be an effective indicator.
Originality/value
Extended manipulability, which shows the motion possible from the current configuration, is offered as an improvement on conventional manipulability.
Keywords
Citation
Aomura, S., Harada, M., Nagatomo, T., Yanagihara, S. and Tachibana, M. (2008), "A study on co‐operative motion planning of a dual manipulator system for measuring radioactivity", Industrial Robot, Vol. 35 No. 6, pp. 541-548. https://doi.org/10.1108/01439910810909547
Publisher
:Emerald Group Publishing Limited
Copyright © 2008, Emerald Group Publishing Limited