Symbolic dynamic modelling and analysis of object/robot-team systems with experiments

Author

Dickson, William C. ; Cannon, Robert H., Jr. ; Rock, Stephen M.

Author_Institution

Lockheed Missiles & Space Co. Inc., Palo Alto, CA, USA

Volume

2

fYear

1996

fDate

22-28 Apr 1996

Firstpage

1413

Abstract

This paper presents an approach for the symbolic dynamic modelling of object/robot-team systems composed of an object manipulated by a team of r robots. The modelling approach merges the dynamic models of the object and robots into a system model. Derivations show that the system acceleration can be computed with complexity proportional to r. This paper demonstrates in a detailed example with physical experiments how the modelling approach can be used for symbolic analysis of a closed-loop object/robot-team system

Keywords

acceleration; closed loop systems; computational complexity; cooperative systems; manipulator dynamics; modelling; redundancy; stability; closed-loop systems; computational complexity; dynamic models; object/robot-team systems; redundant system; stability; symbolic analysis; symbolic dynamic modelling; system acceleration; Acceleration; Aerodynamics; Equations; Manipulator dynamics; Missiles; Orbital robotics; Parallel robots; Physics computing; Robot kinematics; Robotics and automation;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on

Conference_Location

Minneapolis, MN

ISSN

1050-4729

Print_ISBN

0-7803-2988-0

Type

conf

DOI

10.1109/ROBOT.1996.506904

Filename

506904