DocumentCode
2177246
Title
Reactionless robots: novels designs and concept studies
Author
Agrawal, Sunil K. ; Fattah, Abbas
Author_Institution
Dept. of Mech. Eng., Delaware Univ., Newark, DE, USA
Volume
2
fYear
2002
fDate
2-5 Dec. 2002
Firstpage
809
Abstract
For conventional robots, manipulator motions result in forces and moments on the base to cause undesirable base excitations. The objective of this paper is to systematically analyze the fundamentals of reactionless robots. Based on this analysis, design of two distinct classes of planar robots is proposed. Due to the underlying principle of conservation of angular momentum for these robots, the trajectory planning must satisfy additional constraints, illustrated through computer simulations. Currently, we are fabricating reactionless robots to illustrate the underlying concepts.
Keywords
angular momentum; manipulator dynamics; path planning; position control; angular conservation momentum; computer simulations; dynamics; manipulator motions; necessary conditions; planar robots; reactionless robots; sufficient conditions; trajectory planning; Computer simulation; Couplings; Equations; Gravity; Laboratories; Manipulators; Mechanical engineering; Mechanical systems; Robots; Trajectory;
fLanguage
English
Publisher
ieee
Conference_Titel
Control, Automation, Robotics and Vision, 2002. ICARCV 2002. 7th International Conference on
Print_ISBN
981-04-8364-3
Type
conf
DOI
10.1109/ICARCV.2002.1238526
Filename
1238526
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