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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Wei-Bing Gao |
| Copyright Year | 1991 |
| Description | Author affiliation: Seventh Res. Div., Beijing Univ. of Aeronaut. & Astronautics, China (Wei-Bing Gao) |
| Abstract | The dynamics and control issues of an assembly set or a complex mechanical system are studied in this paper. The assembly set is considered as a mechanical system consisting of rigid bodies with rotational or prismatic interconnections in a tree structure. And the dynamical process in performing an assembly task is formulated as a tracking problem in which the desired motion of the mechanical system is described by the motion of one of the bodies chosen as the main one and the motions of others relative one to another in series. Unified representations of the static forces, kinematic quantities and dynamic equations are given with respect to local moving coordinates A control law is established after a manipulability property which concerns the number and the allocation of robots indispensable to the task is studied. Simulation results of a planar system are also given.< |
| Starting Page | 637 |
| Ending Page | 642 |
| File Size | 405140 |
| Page Count | 6 |
| File Format | |
| ISBN | 0780300785 |
| DOI | 10.1109/ICAR.1991.240670 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 1991-06-19 |
| Publisher Place | Italy |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Mechanical systems Robot kinematics Robotic assembly Motion control Control systems Assembly systems Force control Orbital robotics Tracking Equations |
| Content Type | Text |
| Resource Type | Article |
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