Co-ordinated path tracking by two robot arms with a noninverting algorithm based on the simplex method

Abstract

This paper presents an algorithm for path tracking of two robot arms with end-effectors holding a common inertial load. The path is generated as a sequence of elementary motions. Each new position is defined as a function of the previous one. Holonomic constraints are imposed. The characteristic feature of the present algorithm is that it avoids singularities, because there is no need to use inverse kinematics.