Swing-Free Transport of Suspended Objects With a Path-Controlled Robot Manipulator

Author:

Starr G. P.1

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.

Publisher

ASME International

Subject

Computer Science Applications,Mechanical Engineering,Instrumentation,Information Systems,Control and Systems Engineering

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