Study on cooperative multiple manipulators with passive joints

Go Hirano, Motoji Yamamoto, Akira Mohri

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

In this paper, we consider the cooperative multiple manipulators with passive joints and study the effect of the combination of active and passive joints. This kind of manipulators system may restrict the direction of the end-effector's force depending on which joints are set to passive ones. In case of operating and transferring the common object, this restriction may give the less effective force and the excessive internal force to the object. To use driving force effectively, which joints are set to passive ones must be considered. Therefore we show the effect of the joint configurations by case studies.

Original languageEnglish
Title of host publicationIEEE International Conference on Intelligent Robots and Systems
Pages2855-2860
Number of pages6
Volume3
Publication statusPublished - 2002
Event2002 IEEE/RSJ International Conference on Intelligent Robots and Systems - Lausanne, Switzerland
Duration: Sep 30 2002Oct 4 2002

Other

Other2002 IEEE/RSJ International Conference on Intelligent Robots and Systems
CountrySwitzerland
CityLausanne
Period9/30/0210/4/02

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering

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  • Cite this

    Hirano, G., Yamamoto, M., & Mohri, A. (2002). Study on cooperative multiple manipulators with passive joints. In IEEE International Conference on Intelligent Robots and Systems (Vol. 3, pp. 2855-2860)