MODELING CLOSED CHAIN MOTION OF 2 MANIPULATORS HOLDING A RIGID OBJECT

被引：8

作者：

KOIVO, AJ

UNSEREN, MA

机构：

[1] School of Electrical Engineering, Purdue University, West Lafayette

来源：

MECHANISM AND MACHINE THEORY | 1990年 / 25卷 / 04期

关键词：

D O I：

10.1016/0094-114X(90)90079-Y

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

A dynamical model is developed for the closed chain motion of two N-joint manipulators holding a rigid object in a three-dimensional workspace. Holonomic constraints are developed and combined with the equations of motion of the manipulators and of the object to obtain the dynamical model of the entire system. The behavior of the generalized contact forces and their impact on the coupling among the individual components of the system in the model is investigated. The problem of solving the model for the forward and inverse dynamics is discussed. © 1990.

引用

页码：427 / 438

页数：12