Abstract
In controlling manipulators interacting with the external environment, an important issue is the choice and construction of the Cartesian level control system. To effectively control the constrained manipulators, a knowledge of the resulting compliance of the system is required. In this paper a systematic analysis of the Cartesian stiffness and compliance matrices, which at full extent has not been undertaken in literature, is presented. A generalized model of a constrained flexible end-effector interacting with an elastic environment is developed on the basis of static and kinematic equations. The model developed is then applied to the case of several manipulators coupled through a common object.
| Original language | English |
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| Pages | 414-421 |
| Number of pages | 8 |
| Publication status | Published - Jan 1 1995 |
| Event | Proceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 3 (of 3) - Pittsburgh, PA, USA Duration: Aug 5 1995 → Aug 9 1995 |
Other
| Other | Proceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 3 (of 3) |
|---|---|
| City | Pittsburgh, PA, USA |
| Period | 8/5/95 → 8/9/95 |
All Science Journal Classification (ASJC) codes
- Control and Systems Engineering
- Software
- Computer Vision and Pattern Recognition
- Computer Science Applications