Title of article
The study of coordinated manipulation of two redundant robots with elastic joints
Author/Authors
Zhao Jing، نويسنده , , Bai Shi-Xian، نويسنده ,
Issue Information
روزنامه با شماره پیاپی سال 2000
Pages
15
From page
895
To page
909
Abstract
In this article, the problem of joint trajectory planning in the coordinated manipulation of redundant robots with elastic joint is discussed. Two optimal schemes, minimum joint torque method and minimum joint deflection method are proposed. Simulation analyses for the two planar 3R redundant robots with elastic joints handling a single object are also made by using these methods.
Keywords
Elastic joint , Coordinated manipulation , Joint trajectory planning , Redundant robot
Journal title
Mechanism and Machine Theory
Serial Year
2000
Journal title
Mechanism and Machine Theory
Record number
1163306
Link To Document