Title :
A dynamic model for two manipulators handling a pin-jointed object
Author_Institution :
Sch. of Electr. Eng., Purdue Univ., West Lafayette, IN, USA
Abstract :
The dynamic modeling of two robots handling an object with a pin-joint is considered. The properties of a rigid pin-jointed object are studied first. The dynamics of the pin-jointed object are highlighted and simplified by combining some of the properties of the rigid pin-jointed object. The forces/torques acting at each end-effector of the robots are analyzed. The force control problem is further described and formulated.<>
Keywords :
dynamics; force control; robots; torque control; dynamic model; end-effector; force control; manipulators; pin jointed object handling; robots; torque control; Dynamics; Force control; Robots; Torque control;
Conference_Titel :
Systems Engineering, 1991., IEEE International Conference on
Conference_Location :
Dayton, OH, USA
Print_ISBN :
0-7803-0173-0
DOI :
10.1109/ICSYSE.1991.161146
