A procedure for determining the cooperative system nominal motion whereby the system’s desired motion belongs to a set of nominal motions, is proposed. The procedure originates from the solution of the elastic structure cooperative motion taking into account all specific properties of the cooperative manipulation. The starting basis of the procedure is determined by some essential properties of the mathematical model of the dynamics of the cooperative manipulation of the object by the nonredundant manipulators with 6 degrees of freedom (DOFs), whereby the problem of the force indefiniteness is solved by introducing elastic properties for a part of the cooperative system.
Synthesis of Nominal Motion of the Multi-Arm Cooperating Robots With Elastic Interconnections at the Contacts
Contributed by the Dynamic Systems, Measurement, and Control Division of THE AMERICAN SOCIETY OF MECHANICAL ENGINEERS for publication in the ASME JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received by the ASME Dynamic Systems and Control Division Jan. 3, 2000; final revision, Nov. 29, 2000. Associate Editor: Y. Hurmuzlu.
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Zˇivanovic´, M., and Vukobratovic´, M. (August 5, 2004). "Synthesis of Nominal Motion of the Multi-Arm Cooperating Robots With Elastic Interconnections at the Contacts ." ASME. J. Dyn. Sys., Meas., Control. June 2004; 126(2): 336–346. https://doi.org/10.1115/1.1767853
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