DocumentCode
277474
Title
Performance analysis of a two arm robot
Author
Buckingham, R.O. ; Brett, P.N. ; Khodabandehloo, K.
Author_Institution
Adv. Manuf. & Autom. Res. Cetre, Bristol Univ., UK
fYear
1992
fDate
33772
Firstpage
42430
Lastpage
42434
Abstract
There is a need to assess the kinestatic performance of robots because of the large variations in performance within the reachable workspace which are due entirely to the robot kinematic design. A description of kinestatic performance measures is given, and the advantages of using the force transmission ratio are presented. Such measures have been shown to be useful in the design of position and force trajectories for two arm robots
Keywords
control system analysis; force control; kinematics; position control; robots; force control; force transmission ratio; kinematic; kinestatic performance; performance measures; position control; two arm robot;
fLanguage
English
Publisher
iet
Conference_Titel
Multi-Arm Robotics, IEE Colloquium on
Conference_Location
London
Type
conf
Filename
168579
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