Abstract
PurposeThe 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/approachThe 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.FindingsA 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/valueExtended manipulability, which shows the motion possible from the current configuration, is offered as an improvement on conventional manipulability.
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