Affiliation:
1. Department of Mechanical Engineering, The University of New Mexico, Albuquerque, NM 87131
Abstract
Objects which cannot be directly grasped by the end effector of a robot manipulator and must be carried by a hook or similar device are susceptible to swinging during transport. For a simply suspended object, it is possible to use a path-controlled manipulator to achieve a swing-free motion. The trajectory consists of an initial acceleration to an intermediate velocity, then a secondary acceleration to final velocity. An experimental demonstration of the method is presented.
Subject
Computer Science Applications,Mechanical Engineering,Instrumentation,Information Systems,Control and Systems Engineering
Cited by
99 articles.
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