DocumentCode
2023041
Title
The unified formulation of constrained robot systems
Author
Huang, Han-Pang
Author_Institution
Dept. of Mech. Eng., Nat. Taiwan Univ., Taipei, Taiwan
fYear
1988
fDate
24-29 Apr 1988
Firstpage
1590
Abstract
Four types of constrained robot systems are analyzed: the robot in contact with its environment, the robot with a jig band, two robots carrying a common load, and the robot with internal constraints. A unified formulation of the systems is given using singular systems of differential equations. The formulation poses problems in controller design, trajectory planning, and system simulation that require further work
Keywords
industrial robots; operations research; constrained robot systems; controller design; differential equations; industrial robots; system simulation; trajectory planning; unified formulation; Councils; Couplings; Deburring; Differential equations; End effectors; Jacobian matrices; Mechanical engineering; Robot kinematics; Service robots; Space technology;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on
Conference_Location
Philadelphia, PA
Print_ISBN
0-8186-0852-8
Type
conf
DOI
10.1109/ROBOT.1988.12293
Filename
12293
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