Constraint manifold for a system of cooperating robots

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Scopus citations


Constraint manifolds are constructed for a pair of two-link robots cooperating to handle a part in planar space. The possible joint displacement configurations of the robots are symbolized by the intersection of the three manifolds associated with the two robots and the desired position and orientation of the part.

Original languageEnglish (US)
Title of host publicationMechanism Synthesis and Analysis
EditorsM. McCarthy, S. Derby, A. Pisano
PublisherPubl by ASME
Number of pages6
StatePublished - Dec 1 1990
Event21st Biennial Mechanism Conference - Chicago, IL, USA
Duration: Sep 16 1990Sep 19 1990


Other21st Biennial Mechanism Conference
CityChicago, IL, USA

All Science Journal Classification (ASJC) codes

  • Engineering(all)


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