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Dynamics and control of coordinated multiple manipulators
| Content Provider | NASA Technical Reports Server (NTRS) |
|---|---|
| Author | Hayati, S. A. |
| Copyright Year | 1987 |
| Description | A technique is presented for controlling multiple manipulators which are holding a single object and therefore form a closed kinematic chain. The object, which may or may not be in contact with a rigid environment, is assumed to be held rigidly by robot end-effectors. The derivation is based on setting up constraint equations which reduce the 6 x n degrees of freedom of a manipulators each having six joints. Additional constraint equations are considered when one or more of the degrees of freedom of the object is reduced due to external constraints. Utilizing the operational space dynamics equations, a decoupling controller is designed to control both the position and the interaction forces of the object with the environment. Finally, simulation results for the control of a pair of two-link manipulators are presented. |
| File Size | 394186 |
| Page Count | 11 |
| File Format | |
| Alternate Webpage(s) | http://archive.org/details/NASA_NTRS_Archive_19890017189 |
| Archival Resource Key | ark:/13960/t2s51jq6h |
| Language | English |
| Publisher Date | 1987-07-01 |
| Access Restriction | Open |
| Subject Keyword | Mechanical Engineering Controllers Position Location Degrees of Freedom Simulation Control Systems Design Kinematics Manipulators End Effectors Robotics Robots Ntrs Nasa Technical Reports Server (ntrs) Nasa Technical Reports Server Aerodynamics Aircraft Aerospace Engineering Aerospace Aeronautic Space Science |
| Content Type | Text |
| Resource Type | Article |
