On coordinated manipulation of robots considering contact movement

被引：0
|
作者：
Beijing Polytechnic University, Beijing 100022, China [1 ]
机构：
来源：
Jixie Kexue Yu Jishu/Mechanical Science and Technology | 2001年 / 20卷 / 06期
关键词：
D O I：
暂无
中图分类号：
学科分类号：
摘要：
In this paper, we firstly utilize screw theory and differential geometry to establish the dynamic model of the multi-armed coordinated manipulation system. Fingertips are considered as soft finger and the points of contact are not fixed when the object is moving. Then, we make trajectory planning with minimal torque for coordinating redundant robots. Finally, comparison between hard point and pure rolling contact is made via simulation examples. The effectiveness of the proposed model is verified and the results are satisfactory.
引用
收藏
页码：803 / 805
相关论文
共 50 条
  • [1] Coordinated task manipulation by nonholonomic mobile robots
    Gulec, Nusrettin
    Unel, Mustafa
    Sabanovic, Asif
    9TH IEEE INTERNATIONAL WORKSHOP ON ADVANCED MOTION CONTROL, VOLS 1 AND 2, PROCEEDINGS, 2006, : 255 - +
  • [2] Kinematic modeling and simulation of two robots coordinated manipulation
    Shi, Lei
    Shi, Chengquan
    Jiang, Yichun
    FRONTIERS OF MANUFACTURING AND DESIGN SCIENCE II, PTS 1-6, 2012, 121-126 : 2067 - +
  • [3] Study of coordinated manipulation of two redundant robots with elastic joints
    Jing, Zhao
    Shi-Xian, Bai
    2000, Elsevier Science Ltd, Exeter, United Kingdom (35)
  • [4] The study of coordinated manipulation of two redundant robots with elastic joints
    Zhao, J
    Bai, SX
    MECHANISM AND MACHINE THEORY, 2000, 35 (07) : 895 - 909
  • [5] Reinforcement learning control for coordinated manipulation of multi-robots
    Li, Yanan
    Chen, Long
    Tee, Keng Peng
    Li, Qingquan
    NEUROCOMPUTING, 2015, 170 : 168 - 175
  • [6] Coordinated motion planning for a mobile manipulator considering stability and manipulation
    Huang, Q
    Tanie, K
    Sugano, S
    INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 2000, 19 (08): : 732 - 742
  • [7] Motion planning of coordinated manipulation for a team of free flying space robots
    Liu, C.A.
    Hong, B.R.
    Yuhang Xuebao/Journal of Astronautics, 2001, 22 (02):
  • [8] An octopus-bioinspired solution to movement and manipulation for soft robots
    Calisti, M.
    Giorelli, M.
    Levy, G.
    Mazzolai, B.
    Hochner, B.
    Laschi, C.
    Dario, P.
    BIOINSPIRATION & BIOMIMETICS, 2011, 6 (03)
  • [9] The role of environment dynamics in contact force control of manipulation robots
    Vukobratovic, M
    JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME, 1997, 119 (01): : 86 - 89
  • [10] Actuation-Coordinated Mobile Parallel Robots With Hybrid Mobile and Manipulation Functions
    Gan, Dongming
    Fu, Jiaming
    Lin, Han
    Yang, Haoguang
    Rastgaar, Mo
    Min, Byung-Cheol
    Voyles, Richard
    JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME, 2022, 14 (04):
12345