Kinematic Analysis of Lower Mobility Cooperative Arms by Screw Theory

This paper studies the kinematic modeling and analysis of two cooperative manipulators. Cooperative manipulators are defined as multi-arm systems working together on a common task. The task is defined as the transportation of an object in space. In this paper the cooperative system is the dual arm of the humanoid Nao robot, where the serial structure of each arm has five degrees of freedom. The mobility of the closed loop system is analyzed and the nature of the possible motion explored. The serial singular configurations of the system are considered. Furthermore the parallel singularities due to the system constraints and chosen actuation scheme are analyzed.