Title:
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
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