Abstract
In the last years some industrial robots have been realized with two robot arms connected to a single rotating platform. Such a redundant structure allows moving the platform to adjust each robot base for optimizing each arm movement. In this paper, a planar model of two 7-axis robots connected to a rotating platform is proposed, and a novel analytical optimization procedure, retrieved from a geometrical analysis, is presented.
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Bottin, M., Rosati, G., Boschetti, G. (2021). Analytical Movement Optimization of Dual-Arm Planar Robots with Rotating Platform. In: Zeghloul, S., Laribi, M.A., Arsicault, M. (eds) Mechanism Design for Robotics. MEDER 2021. Mechanisms and Machine Science, vol 103. Springer, Cham. https://doi.org/10.1007/978-3-030-75271-2_1
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DOI: https://doi.org/10.1007/978-3-030-75271-2_1
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