The applications of two-armed robots is discussed and a review carried out of the main control methods. The teleoperation of robotic systems is then discussed and the need for good operator visualisation coupled with minimum work load was identified as the key to system efficiency. The collision problem is discussed and the method of detecting and avoiding collisions are presented. The authors also identify the need for a real-time collision avoidance system suitable for two co-operating teleoperated arms, and develop a kinematics based modelling scheme which could be used for collision detection and avoidance.
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