Cart (Loading....) | Create Account
Close category search window

Active acceleration compensation for transport vehicles carrying delicate objects

Sign In

Full text access may be available.

To access full text, please use your member or institutional sign in.

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

2 Author(s)
Dang, A.X.H. ; GE Energy Div., Gen. Electr. Co., Atlanta, GA, USA ; Ebert-Uphoff, I.

The goal of this research is to enhance the capabilities of transport vehicles so that they can carry delicate objects without extensive packaging. The proposed approach, as first described by Graf and Dillmann (1997), is to add a robotic device (e.g., a parallel manipulator) on top of the vehicle, the motion of which compensates for certain forces and moments. This approach is called active acceleration compensation. This paper discusses performance measures for the effectiveness of acceleration compensation and a new motion planning scheme, the augmented pendulum algorithm, that is particularly effective. The basic idea is to emulate the motion of a free-swinging pendulum to minimize lateral forces acting on the objects.

Published in:

Robotics, IEEE Transactions on  (Volume:20 ,  Issue: 5 )

Date of Publication:

Oct. 2004

Need Help?

IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.