Dynamic analysis and experiment of multiarm robots

Autor:	Wang Shu-xin, Liu Youwu
Rok vydání:	2002
Předmět:	Motion analysis Robot kinematics Engineering Control theory business.industry Robot Orthogonal complement Angular velocity Multibody system business Differential algebraic equation Numerical integration
Zdroj:	Proceedings of 1994 IEEE International Conference on Industrial Technology - ICIT '94.
DOI:	10.1109/icit.1994.467132
Popis:	When two or more arms are holding a single object, one or more closed loops are formed by the arms. Such a configuration can be considered as a constrained multibody system. The dynamic analysis of constrained multibody systems can be obtained based on Kane's equations. The governing equations are formulated using orthogonal complement arrays. Numerical integration then leads to the simulation of the movement of the system. As an example, a two-arm robot system is considered using these procedures. The analysis is tested using PUMA 760 and PUMA 562 robots. Excellent agreement is obtained between the theoretical and experimental results. >
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::29e87a6a1aaf0cb056a067d6becfc293 https://doi.org/10.1109/icit.1994.467132 Zobrazit plný text záznamu