Pre-posed configuration of flexible redundant robot manipulators for impact vibration alleviating
Xu, W.L.
Yue, S.
Inst. of Technol. & Eng., Massey Univ., Palmerston North, New Zealand;
This paper appears in: Industrial Electronics, IEEE Transactions on
Publication Date: Feb. 2004
Volume: 51,
Issue: 1
On page(s): 195- 200
ISSN: 0278-0046
INSPEC Accession Number: 7980565
Digital Object Identifier: 10.1109/TIE.2003.821896
Current Version Published: 2004-02-19
Abstract
In this paper, kinematics redundancy of a flexible redundant manipulator (FRM) is employed to alleviate the impact vibration resulting from objects grasping. A vibration-alleviating measure (VAM) of the FRM, and a vibration-alleviating ellipsoid (VAE) with respect to the measure are defined. A method to determine the pre-posed configuration of an FRM is presented based on the defined VAM and VAE. A finite-element model is used to describe the FRM's dynamics incorporating the grasped object. Simulation conducted on a planar FRM shows that the FRM experiences relatively less impact vibration at the pre-posed configuration determined by using the presented method.
Index
Terms
Available to subscribers and IEEE members.
References
Available to subscribers and IEEE members.
Citing Documents
Available to subscribers and IEEE members.
Cart
