Motion space analysis of an object handled by two robot arms

Zuofeng Li, T. J. Tarn, A. K. Bejczy, B. Ghosh

Research output: Contribution to journalConference articlepeer-review

4 Scopus citations


The kinematic capabilities of two cooperating robot arms are studied by investigating the geometric motion space of an object handled by these two robot arms. An understanding of these capabilities is a prerequisite for the motion planning of two-arm cooperation. The motion space and the geometric motion space analysis problem are defined. These definitions are derived from those of the robot workspace analysis. The geometric constraints on the motion space are identified, and a motion space analysis procedure is developed. This procedure was applied to the case of two cooperating PUMA 560 robot arms and the motion space of a long object handled by them was computed with pregiven constraints on its orientations.

Original languageEnglish
Pages (from-to)2487-2493
Number of pages7
JournalProceedings of the IEEE Conference on Decision and Control
StatePublished - 1989
EventProceedings of the 28th IEEE Conference on Decision and Control. Part 2 (of 3) - Tampa, FL, USA
Duration: Dec 13 1989Dec 15 1989


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