Analysis of constrained elastic manipulations

Mikhail Mikhailovich Svinin, C. von Albrichsfeld

研究成果: Contribution to conferencePaper査読

2 被引用数 (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.

本文言語英語
ページ414-421
ページ数8
出版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)
CityPittsburgh, PA, USA
Period8/5/958/9/95

All Science Journal Classification (ASJC) codes

  • 制御およびシステム工学
  • ソフトウェア
  • コンピュータ ビジョンおよびパターン認識
  • コンピュータ サイエンスの応用

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