柔性结构安装式机械手系统的PTP操作实验

Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96 Pub Date : 1996-11-04 DOI:10.1109/IROS.1996.570684

Kazuya Yoshida, D. Nenchev, P. Vichitkulsawat, Hiroshi Kobayashi, M. Uchiyama

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引用次数: 7

摘要

讨论了柔性结构安装式机械臂系统的点对点操作问题。利用日本东北大学开发的FSMS试验台(TREP)，对四种运行策略(1)关节空间的直线路径，(2)高耦合路径，(3)从耦合图概念获得的低耦合路径，以及(4)从无反应路径获得的三相运动进行了最小振荡测试和比较。

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Experiments on the PTP operations of a flexible structure mounted manipulator system

Point-to-point operation of a flexible structure mounted manipulator systems (FSMS) is discussed. Four operation strategies: (1) straight-line path in joint space, (2) high-coupling path, (3) low-coupling path obtained from the coupling map concept, and (4) 3-phase motion obtained from the reactionless path are examined and compared in terms of a minimum oscillation of the supporting flexible structure, using an FSMS test bed, TREP, developed at Tohoku University.

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来源期刊

Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96

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