Title :
Analysis of constrained elastic manipulations
Author :
Svinin, M.M. ; von Albrichsfeld, C.
Author_Institution :
Dept. of Robotics, Darmstadt Univ. of Technol., Germany
Abstract :
In controlling manipulators interacting with the external environment, an important issue is the choice and construction of the Cartesian level control system. To effectively control the constrained manipulators, a knowledge of the resulting compliance of the system is required. In this paper a systematic analysis of the Cartesian stiffness and compliance matrices, which at full extent has not been undertaken in literature, is presented. A generalized model of a constrained flexible end-effector interacting with an elastic environment is developed on the basis of static and kinematic equations. The model developed is then applied to the case of several manipulators coupled through a common object
Keywords :
elasticity; flexible structures; manipulator kinematics; Cartesian level control system; Cartesian stiffness matrix; compliance matrix; constrained elastic manipulations; constrained flexible end-effector; kinematic equations; static equations; system compliance; systematic analysis; Control systems; Equations; Force control; Grippers; Kinematics; Level control; Manipulators; Parallel robots; Power system modeling; Robot control;
Conference_Titel :
Intelligent Robots and Systems 95. 'Human Robot Interaction and Cooperative Robots', Proceedings. 1995 IEEE/RSJ International Conference on
Conference_Location :
Pittsburgh, PA
Print_ISBN :
0-8186-7108-4
DOI :
10.1109/IROS.1995.526250