Coordinated Compliant Motion Control of Positioner-Manipulator Systems

Autor:	Zhi-Xin Peng, Norihiko Adachi, Showzow Tsujio
Rok vydání:	1995
Předmět:	Flexibility (engineering) Engineering business.industry Control theory ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION Redundancy (engineering) Control engineering Manipulator business Motion control Motion (physics)
Zdroj:	Journal of the Robotics Society of Japan. 13:799-807
ISSN:	1884-7145 0289-1824
DOI:	10.7210/jrsj.13.799
Popis:	Coordinated compliant motion of two robotic devices can introduce greater flexibility and dexterity into manufacturing and improve productivity. By formulating coordinated compliant motion of two robotic devices as constrained motion of a manipulator under rheo-holonomic constraints imposed by a positioner, this paper studies dynamics and control of manipulators under rheo-holonomic constraints, which contain time explicitly. Two kinds of coordinated compliant motion: coordinated deburring/contour-following and coordinated peg-in-hole are discussed, and the redundancy resolution issue is also addressed. Finally, two and three dimensional coordinated deburring/contour-following are presented as illustrative examples.
Databáze:	OpenAIRE
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