Planning Movement for Two PUMA Manipulators Holding the Same Object

Two PUMA manipulators holding an object form a six degree of freedom closed kinematic chain. This situation occurs when heavy or long objects are to be manipulated by the robots. The constraint that the object not be dropped imposes limits on the configuration variables, which are treated as obstacles. A general program has been developed and implemented for planning paths for any multi-dimensional closed chain robot system. It is used to find a feasible path avoiding obstacles including that due to the closure of the chain. This program is used to plan a pick and place movement for two PUMA manipulators. The degrees of freedom are chosen so that both the robots can be controlled independently instead of using master-slave strategy.

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