Title :
Design and motion planning for a zero-reaction manipulator
Author :
Papadopoulos, Evangelos ; Abu-Abed, Ahmed
Author_Institution :
Dept. of Mech. Eng., McGill Univ., Montreal, Que., Canada
Abstract :
In a number of industrial, space, or mobile systems applications, reaction forces and moments transmitted by a manipulator to its base are undesirable. Based on the force and moment transmission analysis, a three DOF redundant manipulator design is selected aiming at reactionless motions. Dynamic reaction forces are eliminated by using force balancing. Reaction moments are eliminated by following reactionless paths, whose planning is simplified by rendering the dynamics of the system decoupled and invariant. The value of the synergy between design and planning is demonstrated by example cases. An additional advantage of this design is that the manipulator can be used either as a redundant system, or as a two DOF reactionless system
Keywords :
control system synthesis; force control; manipulators; path planning; redundancy; 3-DOF redundant manipulator; dynamic reaction forces; force and moment transmission; force balancing; moment transmission; motion planning; reaction moments; reactionless motions; zero-reaction manipulator; Acceleration; Actuators; Aerospace industry; Gravity; Manipulator dynamics; Mechanical engineering; Motion analysis; Motion planning; Path planning; Space vehicles;
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.1994.351367
