In this work, we study a kind of manipulation process during which we deal with active objects. An active object is a concept covering a variety of objects that are not rigid and need to be controlled during the manipulation process. Here, we use a multi-link mechanism with active motors (actuator) as the object and a series of simple planar manipulators to perform the manipulation process. Dynamic, control, motion planning, and stability at the presence of impact are the most important challenges in this work.
Control and Manipulation of Multibody Objects
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Beigzadeh, B, Meghdari, A, & Sohrabpour, S. "Control and Manipulation of Multibody Objects." Proceedings of the ASME 2010 10th Biennial Conference on Engineering Systems Design and Analysis. ASME 2010 10th Biennial Conference on Engineering Systems Design and Analysis, Volume 3. Istanbul, Turkey. July 12–14, 2010. pp. 579-584. ASME. https://doi.org/10.1115/ESDA2010-24203
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