Title :
Bracing micro/macro manipulators control
Author :
Lew, Jae Young ; Book, Wayne J.
Author_Institution :
Dept. of Autom. & Meas. Sci., Pacific Northwest Lab., Richland, WA, USA
Abstract :
This paper proposes a bracing strategy for micro/macro manipulators. The bracing micro/macro manipulator can provide advantages in accurate positioning, large work-space, and contact-task capability. However, in exchange for improvement in performance, one must accept the complex control problem along with the complex dynamics. This research develops a control scheme for a bracing manipulator which makes multiple contacts with the environment. Experimental results show the feasibility of the proposed ideas for real world applications
Keywords :
force control; manipulators; position control; accurate positioning; bracing strategy; complex control problem; complex dynamics; contact-task capability; micro/macro manipulators control; multiple contacts; Automatic control; Automation; Constraint theory; End effectors; Equations; Force control; Kinematics; Lagrangian functions; Manipulator dynamics; Space technology;
Conference_Titel :
Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
0-8186-5330-2
DOI :
10.1109/ROBOT.1994.350933
