General Mathematical Model of Multi-Arm Cooperating Robots With Elastic Interconnection at the Contact-Reference-Cited by-同舟云学术

General Mathematical Model of Multi-Arm Cooperating Robots With Elastic Interconnection at the Contact

Published:1997-12-01 Issue:4 Volume:119 Page:707-717
ISSN:0022-0434
Container-title:Journal of Dynamic Systems, Measurement, and Control
language:en
Short-container-title:

Author:

Z˘ivanovic´ Milovan¹,Vukobratovic´ Miomir²

Affiliation:

1. Institute of Aeronautics, 11000 Belgrade, Serbia

2. Robotics Department, Mihailo Pupin institute, 11000 Belgrade, Serbia

Abstract

The procedure of modeling and the complete general form mathematical model of manipulators with six degrees of freedom in cooperative work are presented in the paper, together with the solution of undefiniteness problem with respect to force distribution. For the first time, a system of active spatial six-degree-of-freedom mechanisms elastically interconnected with the object (dynamic environment) is modeled. The reason for the emergence of the undefiniteness problem with respect to force is explained and the procedure for solving this problem given. Unlike the approaches given in the available literature, the undefiniteness problem with respect to force is solved in accordance with physical phenomena. The modeling procedure is illustrated by a simplified example.

Publisher

ASME International

Subject

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

Link

http://asmedigitalcollection.asme.org/dynamicsystems/article-pdf/119/4/707/5652099/707_1.pdf

Reference26 articles.

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3. Kosuge, K., Ishikawa, J., Furuta, K., and Sakai, M., “Control of Single-Master Multi-Slave Manipulator System Using Vim,” Proc. of IEEE Conf. on Robotics and Automation, Cincinnati, Ohio, pp. 1172–1177, May 1990.

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