By Topic

Trajectory planning for two manipulators to deform flexible materials using compliant motion

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Al-Jarrah, O. ; Dept. of Electr. Eng., Ohio State Univ., Columbus, OH, USA ; Zheng, Y.F. ; Yi, K.-Y.

Coordinating two robot manipulators to handle flexible materials has a wide range of applications in the manufacturing industry. However, this problem has not been seriously addressed until recently. The two robot manipulators have to follow complicated trajectories to maintain a minimum interaction force with the flexible beam. These trajectories are very complicated and not suitable for real time systems. A compliant motion scheme is proposed to reduce the interaction forces and moments. The stability of the proposed system is investigated. Experimental results encourage the proposed scheme

Published in:

Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on  (Volume:2 )

Date of Conference:

21-27 May 1995