A study on co‐operative motion planning of a dual manipulator system for measuring radioactivity

Abstract

Purpose

The aim of this paper is to describe how to make a co‐operative motion plan for a dual manipulator system to measure the radioactivity of wastes produced in decommissioning a nuclear power plant.

Design/methodology/approach

The system consists of two tasks: the main task generates the path of the measuring operation and the subtask maintains a good working position by co‐operative motion of the two manipulators.

Findings

A dual manipulator system requires an effective indicator of the current working position for the realisation of flexible co‐operative motion. Extended manipulability, which takes the motion limit of each joint angle into consideration, is shown to be an effective indicator.

Originality/value

Extended manipulability, which shows the motion possible from the current configuration, is offered as an improvement on conventional manipulability.

Citation

Aomura, S., Harada, M., Nagatomo, T., Yanagihara, S. and Tachibana, M. (2008), "A study on co‐operative motion planning of a dual manipulator system for measuring radioactivity", Industrial Robot, Vol. 35 No. 6, pp. 541-548. https://doi.org/10.1108/01439910810909547