MANIPULATION
The Dynamic Effects of Robotic Grasping Considering Flexible Joints
J. Kövecses, R. G. Fenton, William L. Cleghorn
- Year
- 1995
- Citations
- 2
Abstract
Abstract In this paper the dynamics of an important and frequently used robotic working process is investigated. The robot manipulator approaches, suddenly grasps and lifts a three dimensional object which is travelling on a conveyor. The spatial robot manipulator has two rigid links, rigid rotors and flexible joints. In order to model the joint flexibility, one-degree of freedom torsional springs have been used. The effects of continuous and discontinuous constraint equations are analysed. Simulation results are presented.
Keywords
Flexibility (engineering)Constraint (computer-aided design)Process (computing)RobotComputer scienceRobot manipulatorDynamic equationControl engineeringManipulator (device)Control theory (sociology)
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