Analysis of constrained elastic manipulations

Mikhail Mikhailovich Svinin, C. von Albrichsfeld

研究成果: 会議への寄与タイプ論文

2 引用 (Scopus)

抄録

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.

元の言語英語
ページ414-421
ページ数8
出版物ステータス出版済み - 1 1 1995
イベントProceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 3 (of 3) - Pittsburgh, PA, USA
継続期間: 8 5 19958 9 1995

その他

その他Proceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 3 (of 3)
Pittsburgh, PA, USA
期間8/5/958/9/95

Fingerprint

Manipulators
Level control
End effectors
Kinematics
Stiffness
Control systems
Compliance

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

これを引用

Svinin, M. M., & von Albrichsfeld, C. (1995). Analysis of constrained elastic manipulations. 414-421. 論文発表場所 Proceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 3 (of 3), Pittsburgh, PA, USA, .

Analysis of constrained elastic manipulations. / Svinin, Mikhail Mikhailovich; von Albrichsfeld, C.

1995. 414-421 論文発表場所 Proceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 3 (of 3), Pittsburgh, PA, USA, .

研究成果: 会議への寄与タイプ論文

Svinin, MM & von Albrichsfeld, C 1995, 'Analysis of constrained elastic manipulations', 論文発表場所 Proceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 3 (of 3), Pittsburgh, PA, USA, 8/5/95 - 8/9/95 pp. 414-421.
Svinin MM, von Albrichsfeld C. Analysis of constrained elastic manipulations. 1995. 論文発表場所 Proceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 3 (of 3), Pittsburgh, PA, USA, .
Svinin, Mikhail Mikhailovich ; von Albrichsfeld, C. / Analysis of constrained elastic manipulations. 論文発表場所 Proceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 3 (of 3), Pittsburgh, PA, USA, .8 p.
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