Title :
The unified formulation of constrained robot systems
Author_Institution :
Dept. of Mech. Eng., Nat. Taiwan Univ., Taipei, Taiwan
Abstract :
Four types of constrained robot systems are analyzed: the robot in contact with its environment, the robot with a jig band, two robots carrying a common load, and the robot with internal constraints. A unified formulation of the systems is given using singular systems of differential equations. The formulation poses problems in controller design, trajectory planning, and system simulation that require further work
Keywords :
industrial robots; operations research; constrained robot systems; controller design; differential equations; industrial robots; system simulation; trajectory planning; unified formulation; Councils; Couplings; Deburring; Differential equations; End effectors; Jacobian matrices; Mechanical engineering; Robot kinematics; Service robots; Space technology;
Conference_Titel :
Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on
Conference_Location :
Philadelphia, PA
Print_ISBN :
0-8186-0852-8
DOI :
10.1109/ROBOT.1988.12293
