Title :
Experiments on the PTP operations of a flexible structure mounted manipulator system
Author :
Yoshida, K. ; Nenchev, D.N. ; Vichitkulsawat, P. ; Kobayashi, H. ; Uchiyama, M.
Author_Institution :
Dept. of Aeronaut. & Space Eng., Tohoku Univ., Sendai, Japan
Abstract :
Point-to-point operation of a flexible structure mounted manipulator systems (FSMS) is discussed. Four operation strategies: (1) straight-line path in joint space, (2) high-coupling path, (3) low-coupling path obtained from the coupling map concept, and (4) 3-phase motion obtained from the reactionless path are examined and compared in terms of a minimum oscillation of the supporting flexible structure, using an FSMS test bed, TREP, developed at Tohoku University
Keywords :
flexible structures; manipulators; motion control; path planning; vibration control; 3-phase motion; TREP; Tohoku University; coupling map concept; flexible structure mounted manipulator system; high-coupling path; joint space; low-coupling path; minimum oscillation; point-to-point operation; reactionless path; straight-line path; Equations; Flexible structures; Forestry; Manipulators; Orbital robotics; Path planning; Radioactive pollution; Space stations; System testing; Waste handling;
Conference_Titel :
Intelligent Robots and Systems '96, IROS 96, Proceedings of the 1996 IEEE/RSJ International Conference on
Conference_Location :
Osaka
Print_ISBN :
0-7803-3213-X
DOI :
10.1109/IROS.1996.570684
