MODELING A CLASS OF MULTILINK MANIPULATORS WITH THE LAST LINK FLEXIBLE

被引：15

作者：

WANG, D

VIDYASAGAR, M

机构：

[1] CTR ARTIFICIAL INTELLIGENCE & ROBOT,BANGALORE 560001,INDIA

[2] UNIV WATERLOO,DEPT ELECT & COMP ENGN,WATERLOO N2L 3G1,ONTARIO,CANADA

来源：

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | 1992年 / 8卷 / 01期

关键词：

D O I：

10.1109/70.127237

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, dynamic equations are derived for a class of multilink manipulators with the last link flexible. The manipulators have three degrees of freedom and are moved by three actuators. This class includes the elbow manipulator and the five-bar-linkage manipulator. Some reasonable assumptions that simplify the dynamic equations for control purposes are described, and the simplified dynamic equations are then presented. It is shown that, for pick-and-place operations, a rigid-body robot controller and single flexible link controller may be combined to control the manipulator in a straightforward manner.

引用

页码：33 / 41

页数：9

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