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 language | English |
|---|---|
| Title of host publication | IEEE International Conference on Intelligent Robots and Systems |
| Pages | 2855-2860 |
| Number of pages | 6 |
| Volume | 3 |
| Publication status | Published - 2002 |
| Event | 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems - Lausanne, Switzerland Duration: Sep 30 2002 → Oct 4 2002 |
Other
| Other | 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems |
|---|---|
| Country | Switzerland |
| City | Lausanne |
| Period | 9/30/02 → 10/4/02 |
Fingerprint
All Science Journal Classification (ASJC) codes
- Control and Systems Engineering
Cite this
Study on cooperative multiple manipulators with passive joints. / Hirano, Go; Yamamoto, Motoji; Mohri, Akira.
IEEE International Conference on Intelligent Robots and Systems. Vol. 3 2002. p. 2855-2860.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Study on cooperative multiple manipulators with passive joints
AU - Hirano, Go
AU - Yamamoto, Motoji
AU - Mohri, Akira
PY - 2002
Y1 - 2002
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=0036450845&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=0036450845&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:0036450845
VL - 3
SP - 2855
EP - 2860
BT - IEEE International Conference on Intelligent Robots and Systems
ER -