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The objective of this study was to experimentally investigate the payload sensitivity of model-based control algorithms for the class of vertically articulated industrial manipulators with high torque amplification drive systems. Once the pay load sensitivity was established, the minimum subset...
A finite element - based method is presented for analyzing the dynamic behavior of flexible manipulators, including the effects of the manipulator's control system. The method involves a nonlinear finite-element formulation in which both links and joints are considered as specific finite...
Future robotic manipulator systems will be required to per form complex tasks in space such as satellite repair. These robotic manipulators will encounter a number of kinematic, dynamic, and control problems caused by the dynamic coup ling between the manipulators and its spacecraft. This dy...
This article presents solutions to the inverse kinematic prob lems of a three-axis robot with three cylindric joints. Since a cylindric joint has two degrees of freedom, the end effector will have six degrees of freedom in general. Therefore, the robot can position and orient the end effector at...
The problem of concurrent motion and force control for ma nipulator tasks with continuous contact between end effector and environment is addressed in this article. In contrast to previous work, no compliance is assumed between end effec tor and contacted object, but instead the contact is...
This article extends to three-dimensional tasks the method of camera space manipulation. A minimum of two cameras is required to place points on end effectors (or objects in their grasp) of n-degree-of-freedom manipulators relative to other bodies. This is accomplished using a sequential...
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