Relative Motions of Robot Manipulators

In this paper a co-operation motion of two-handed manipulator iz discussed. The motion vizualization is made toward end-

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Relative Motions of Robot Manipulators

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[Yankov 1988] K., An Off-line Programming System for Industrial Robots. Proc. 3-rd International Symposium on Foundation of Dynamics and Control for Manipulation Robots, may 22-27, 1988, Varna, Bulgaria, pp.272-277.

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[Yankov et al.1989a] K., Y.Tzvetanova. ARCHIMED - a Geometric Modeling System for Industrial Robots and Environment. Int. Symp. on the Automation of Construction Processes and Construction Machines. may 22-25, 1989, Magdeburg/Berlin, pp. 213-220.

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[Zapata et al.1987] R., A.Fournier, P.Danchez, True Cooperating of Robots in Multi-Arms Tasks, Proc.1987 Int. Conf. on Robotics & Automation, march 31-apr.3, 1987, Raleigh, North California, pp.1225-1260

, , 1994. 28(3), . 15-19. [Konstantinov et al.1980] M., M.Markov, Two-Hands Manipulator for Sophisticated Operation in Relative Space. Proc. of 10-th ISIR, Milan, 5-7 martch 1980, pp.475-480. [Maimon et al.1985] O.Z., S.Y.Nof, Coordination of Robots Sharing Assembly Tasks. Trans. ASME, J. Dynamic, Syst. Man and Cybernetics, 1985, vol.107, N4, pp.299-307 [Uchiyama et al.1987] M., N.Iwasawa, K.Hakowori, Hybrid Position/Force Control for Coordination of a Two-arm Robot. Proc. 1987 Int. Conf. on Robotics &

[Yankov 1989 ], K. Manipulator Motion Planning. Int. Workshop on Sensorial Integration for Industrial Robots SIFIR'89, Zaragoza, Spain, nov.22-24,1989, pp.114-118. [Yankov 1990] K. Simulation Model of Industrial Robots. IV-th National conference “Systems for Automation of Engineering and Research SAER'90", Oct. 1-6, 1990. Albena, Bulgaria, pp. 260-264. [Yankov 1992] K., Computer Simulation of Industrial Robots. Proc. Second International Conference ACMBUL'92 "Computer Applications", okt.4-8,1992, st.Konstantine resort, Varna, Bulgaria, pp.33.1-33.8 [Yankov 2000] K., Interactive Design of Robot Work Cell, 14-th Int.Conf. "Systems for Automation of Engineering and Research" SAER'2000, sept.18-20, 2000. st.Konstantine resort, Varna, Bulgaria, pp. 28-32.

RELATIVE MOTIONS OF ROBOT MANIPULATORS Kaloyan YANKOV

Abstract In this paper a co-operation motion of two-handed manipulator iz discussed. The motion vizualization is made toward end-effector coordinate system of the manipulator. This approach is implemented in CAD-system for robots CINDY. The modeling of co-operations of two manipulators is significant for off-line programming of industrial robots.

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