@inproceedings{39ec757dce244d82b6be507cde31cc95,
title = "A singularity free trajectory tracking method for the cooperative working of multi-arm robots using screw theory",
abstract = "In this paper we present a singularity free trajectory tracking method for the cooperative working of multi-arm robot manipulators. It is based on an inverse kinematic transformation which determines the manipulator's joint angles corresponding to the end-effector trajectory given in the task space. The kinematic problem of multi-arm robot system is solved by using screw theory and quaternion algebra. Screw theory is an effective way to establish a global description of rigid body and avoids singularities due to the use of the local coordinates. Dual-quaternion is the most compact and efficient dual operator to express screw displacement. Inverse kinematic solutions are obtained by using Paden-Kahan sub-problems. The proposed method is implemented using two Stubli TX60 robot arms and simulation results are given.",
keywords = "Cooperative working, Dual-Quaternion, Multi-Robot Arm, Screw Theory, Singularity-Free Inverse Kinematic",
author = "Emre Sariyildiz and Hakan Temeltas",
year = "2011",
doi = "10.1109/ICMECH.2011.5971328",
language = "English",
isbn = "9781612849836",
series = "2011 IEEE International Conference on Mechatronics, ICM 2011 - Proceedings",
pages = "451--456",
booktitle = "2011 IEEE International Conference on Mechatronics, ICM 2011 - Proceedings",
note = "2011 IEEE International Conference on Mechatronics, ICM 2011 ; Conference date: 13-04-2011 Through 15-04-2011",
}