Synthesis of Nominal Motion of the Multi-Arm Cooperating Robots With Elastic Interconnections at the Contacts-Reference-Cited by-同舟云学术

Synthesis of Nominal Motion of the Multi-Arm Cooperating Robots With Elastic Interconnections at the Contacts

Published:2004-06-01 Issue:2 Volume:126 Page:336-346
ISSN:0022-0434
Container-title:Journal of Dynamic Systems, Measurement, and Control
language:en
Short-container-title:

Author:

Zˇivanovic´ Milovan¹,Vukobratovic´ Miomir²

Affiliation:

1. VTI VJ, Institute of Aeronautics, 11000 Belgrade, Yugoslavia

2. Robotics Department, Mihailo Pupin Institute, 11000 Belgrade, Yugoslavia

Abstract

A procedure for determining the cooperative system nominal motion whereby the system’s desired motion belongs to a set of nominal motions, is proposed. The procedure originates from the solution of the elastic structure cooperative motion taking into account all specific properties of the cooperative manipulation. The starting basis of the procedure is determined by some essential properties of the mathematical model of the dynamics of the cooperative manipulation of the object by the nonredundant manipulators with 6 degrees of freedom (DOFs), whereby the problem of the force indefiniteness is solved by introducing elastic properties for a part of the cooperative system.

Publisher

ASME International

Subject

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

Link

http://asmedigitalcollection.asme.org/dynamicsystems/article-pdf/126/2/336/5780411/336_1.pdf

Reference17 articles.

1. Zˇivanovic´, M., and Vukobratovic´, M., 1997, “General Mathematical Model of Multi-Arm Cooperating Robots With Elastic Interconnection at the Contact,” ASME J. Dyn. Syst., Meas., Control, 119, pp. 707–117, December.

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4. Henrich, D., and Cheng, X., “Fast Distance Computation for On-Line Collision Detection With Multi-Arm Robots,” in Proc. of IEEE Conf. on Robotics and Automation (Nice, France), pp. 2514–2519, May 1992.

5. Chu, H., and ElMaraghy, H. A., “Real-Time Multi-Robot Path Planner Based on a Heuristic Approach,” in Proc. of IEEE Conf. on Robotics and Automation (Nice, France), pp. 475–480, May 1992.

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