Title:
Control for Two Cooperative Disparate Manipulators
Control for Two Cooperative Disparate Manipulators
dc.contributor.author | Lew, Jae Young | |
dc.contributor.author | Book, Wayne J. | |
dc.contributor.corporatename | Georgia Institute of Technology. School of Mechanical Engineering | |
dc.contributor.corporatename | Georgia Institute of Technology. Center for Robotics and Intelligent Machines | |
dc.date.accessioned | 2011-06-15T16:45:14Z | |
dc.date.available | 2011-06-15T16:45:14Z | |
dc.date.issued | 1991-02 | |
dc.description | Proceedings of the American Nuclear Society 4th Topical Meeting on Robotics and Remote Systems, February 24-28, 1991, Albuquerque, NM. | en_US |
dc.description.abstract | The concept of a small arm mounted on the end of a large arm has been introduced to provide precise motion as well as a large workspace. However, the performance of such a serial configuration lacks payload capacity which is a crucial factor for handling a massive object. Also, this configuration induces more flexibility on the structure. To overcome these problems, the topology of bracing the tip of the small arm (not the large arm) and having an end effector in the middle of the chain is proposed in this paper. Also, simulation results are presented to show the possibility that the proposed control scheme provides the disparate manipulators with better accuracy than the large arm and more payload capacity than the small arm. In the near future, experimental studies on the existing arrangement (RALF and SAM) are scheduled to verify the feasibility of the proposed concepts. | en_US |
dc.identifier.citation | Lew, J.Y. and W.J. Book, "Control for Two Cooperative Disparate Manipulators," Proceedings of the American Nuclear Society 4th Topical Meeting on Robotics and Remote Systems, February 24-28, 1991, Albuquerque, NM. | en_US |
dc.identifier.uri | http://hdl.handle.net/1853/39120 | |
dc.language.iso | en_US | en_US |
dc.publisher | Georgia Institute of Technology | en_US |
dc.subject | Flexible manipulators | en_US |
dc.subject | Force ellipsoids | en_US |
dc.title | Control for Two Cooperative Disparate Manipulators | en_US |
dc.type | Text | |
dc.type.genre | Proceedings | |
dspace.entity.type | Publication | |
local.contributor.author | Book, Wayne J. | |
local.contributor.corporatename | George W. Woodruff School of Mechanical Engineering | |
local.contributor.corporatename | College of Engineering | |
local.contributor.corporatename | Institute for Robotics and Intelligent Machines (IRIM) | |
relation.isAuthorOfPublication | 45966a3c-59ea-44fc-980a-96d543c035f0 | |
relation.isOrgUnitOfPublication | c01ff908-c25f-439b-bf10-a074ed886bb7 | |
relation.isOrgUnitOfPublication | 7c022d60-21d5-497c-b552-95e489a06569 | |
relation.isOrgUnitOfPublication | 66259949-abfd-45c2-9dcc-5a6f2c013bcf |
Files
Original bundle
1 - 1 of 1
- Name:
- Control for Two Cooperative Disparate Manipulators.pdf
- Size:
- 1.38 MB
- Format:
- Adobe Portable Document Format
- Description:
License bundle
1 - 1 of 1
No Thumbnail Available
- Name:
- license.txt
- Size:
- 1.76 KB
- Format:
- Item-specific license agreed upon to submission
- Description: