Simulation of Grasping with a Flexible-Joint Robot

Kövecses, J.; Fenton, R. G.; Cleghorn, W. L.

doi:10.1007/978-94-009-1718-7_6

J. Kövecses³,
R. G. Fenton⁴ &
W. L. Cleghorn⁴

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Abstract

In this paper, the motion of a spatial two-arm robot manipulator undergoing grasping and lifting a three dimensonal object is investigated. The manipulator has rigid links. The joints are modeled as flexible, continuous shafts. The object is travelling on a conveyor. A mechanical model is derived for the problem. The effects of grasping, when the end effector of the manipulator approaches, suddenly grasps and lifts are analysed. Simulation results are presented.

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Authors and Affiliations

Department of Mechanics, University of Miskolc, Miskolc-Egyetemváros, H-3515, Hungary
J. Kövecses
Department of Mechanical Engineering, University of Toronto, 5 King’s College Rd., M5S 1A4, Toronto, Ontario, Canada
R. G. Fenton & W. L. Cleghorn

Authors

J. Kövecses
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R. G. Fenton
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W. L. Cleghorn
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Editor information

Editors and Affiliations

J. Stefan Institute, University of Ljubljana, Slovenia
Jadran Lenarčič
Department of Mechanical Engineering, University of Bologna, Italy
Vincenzo Parenti-Castelli

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Kövecses, J., Fenton, R.G., Cleghorn, W.L. (1996). Simulation of Grasping with a Flexible-Joint Robot. In: Lenarčič, J., Parenti-Castelli, V. (eds) Recent Advances in Robot Kinematics. Springer, Dordrecht. https://doi.org/10.1007/978-94-009-1718-7_6

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DOI: https://doi.org/10.1007/978-94-009-1718-7_6
Publisher Name: Springer, Dordrecht
Print ISBN: 978-94-010-7269-4
Online ISBN: 978-94-009-1718-7
eBook Packages: Springer Book Archive

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