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Mechanisms and Machine Science
Bimanual manipulation of objects is receiving a lot of attention nowadays, but there is few literature addressing the design of the arms configuration. In this paper, we propose a way to analyze the relative positioning of two redundant arms, both equipped with spherical wrists, in order to obtain the best common workspace for grasping purposes. Considering the geometry of a robot with a spherical wrist, the Cartesian workspace can be discretized, with an easy representation of the feasibledoi:10.1007/978-94-007-7214-4_14 fatcat:kghgziu2wbagbipzhhzgj3txma