两个机械臂处理一个铰接物体的动态模型

IEEE 1991 International Conference on Systems Engineering Pub Date : 1900-01-01 DOI:10.1109/ICSYSE.1991.161146

Y. Zhou

{"title":"两个机械臂处理一个铰接物体的动态模型","authors":"Y. Zhou","doi":"10.1109/ICSYSE.1991.161146","DOIUrl":null,"url":null,"abstract":"The dynamic modeling of two robots handling an object with a pin-joint is considered. The properties of a rigid pin-jointed object are studied first. The dynamics of the pin-jointed object are highlighted and simplified by combining some of the properties of the rigid pin-jointed object. The forces/torques acting at each end-effector of the robots are analyzed. The force control problem is further described and formulated.<<ETX>>","PeriodicalId":250037,"journal":{"name":"IEEE 1991 International Conference on Systems Engineering","volume":"35 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"A dynamic model for two manipulators handling a pin-jointed object\",\"authors\":\"Y. Zhou\",\"doi\":\"10.1109/ICSYSE.1991.161146\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"The dynamic modeling of two robots handling an object with a pin-joint is considered. The properties of a rigid pin-jointed object are studied first. The dynamics of the pin-jointed object are highlighted and simplified by combining some of the properties of the rigid pin-jointed object. The forces/torques acting at each end-effector of the robots are analyzed. The force control problem is further described and formulated.<<ETX>>\",\"PeriodicalId\":250037,\"journal\":{\"name\":\"IEEE 1991 International Conference on Systems Engineering\",\"volume\":\"35 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"1900-01-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"IEEE 1991 International Conference on Systems Engineering\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICSYSE.1991.161146\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"IEEE 1991 International Conference on Systems Engineering","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICSYSE.1991.161146","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}

引用次数: 0

摘要

考虑了两个机器人处理带销关节物体的动力学建模问题。首先研究了刚性铰接物体的特性。结合刚性铰接物体的一些特性，突出和简化了铰接物体的动力学特性。分析了作用在机器人各末端执行器上的力/力矩。对力的控制问题作了进一步的描述和表述。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

查看原文本刊更多论文

A dynamic model for two manipulators handling a pin-jointed object

The dynamic modeling of two robots handling an object with a pin-joint is considered. The properties of a rigid pin-jointed object are studied first. The dynamics of the pin-jointed object are highlighted and simplified by combining some of the properties of the rigid pin-jointed object. The forces/torques acting at each end-effector of the robots are analyzed. The force control problem is further described and formulated.<>

求助全文

通过发布文献求助，成功后即可免费获取论文全文。去求助

来源期刊

IEEE 1991 International Conference on Systems Engineering

自引率

0.00%

发文量