Title :
Hitting from any direction in 3-D space by a robot with a flexible link hammer
Author :
Izumi, T. ; Hitaka, Y.
Author_Institution :
Dept. of Electr. & Electron. Eng., Yamaguchi Univ., Japan
fDate :
4/1/1997 12:00:00 AM
Abstract :
This paper describes a hammering robot with a flexible link which can hit an object from an arbitrary direction in a 3-D space. A dynamical equation of a flexible link hammer is presented by taking gravity into consideration. The conditions that the hammer can strike an object flatwise with only a normal velocity to its face are investigated, and a manipulating method to satisfy the hitting conditions is obtained
Keywords :
computational geometry; gravity; manipulator dynamics; position control; velocity control; 3D space; dynamical equation; flexible link hammer; geometrical relation; gravity; hammering robot; hitting conditions; hitting velocity; position control; velocity compensation; Energy efficiency; Equations; Gravity; Manipulator dynamics; Nails; Orbital robotics; Robot kinematics; Space debris; Space technology; Space vehicles;
Journal_Title :
Robotics and Automation, IEEE Transactions on
