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Path Planning of Redundant Manipulator and Determination of its Configuration of Bending Elastic Plate Spring

  • R. Katoh
  • T. Fujimoto
  • T. Yamashita
Conference paper
Part of the International Centre for Mechanical Sciences book series (CISM, volume 361)

Summary

In tasks of assembling machines by manipulator, operations such that the manipulator deforms the shape of an object, for example, bending spring or rubber, are often needed, while many studies as for the operations of the manipulator with geometrical constraints, which means the absence of the shape change of the object, have been reported. This paper deals with two problems; a path planning of a manipulator’s end-effector and a determination method of its configuration in such a operation that an end-effector of the manipulation is commanded to move one end of an elastic plate spring with the another fixed to a wall to a desired position by bending it.

Keywords

Target Position Path Planning Robot Manipulator Robotic Research Spring Model 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Reference

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    De Luca A., Dynamic Control of robots with joint elasticy, Pro. IEEE Conf. on Robotics and Automation, pp.152–158, 1988Google Scholar
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    D.M. Rovner and R.H. Cannon, Experiments toward on-line identification and control of a very flexible one-link manipulator, Int. J. of Robotics Research, Vol. 6, No. 4, pp. 3–19, 1987.CrossRefGoogle Scholar
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    A. Liegeois, Automatic Supervisory Control of the Configuration and Behavior of Multibody Mechanisms, IEEE Trans. SMC-7, 12, pp. 868–871, 1977.Google Scholar
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    T. Yoshikawa, Analysis and Control of Robot Manipulators with Redundancy, Robotics Research: The First Int. Symp., (M.Brady and R.Paul ed.), MIT Press, Cambridge, Mass. pp. 735–747, 1984.Google Scholar
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    J.M. Hollerbach and KI C. Suh, Redundancy Resolution of Manipulators through Torque Optimization, IEEE Trans. RA-3, 4, pp. 308–316, 1987.Google Scholar

Copyright information

© Springer-Verlag Wien 1995

Authors and Affiliations

  • R. Katoh
    • 1
  • T. Fujimoto
    • 1
  • T. Yamashita
    • 1
  1. 1.Kyushu Institute of TechnologyKitakyushuJapan

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