On coordinated manipulation of robots considering contact movement

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作者：
Beijing Polytechnic University, Beijing 100022, China [1 ]
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来源：
Jixie Kexue Yu Jishu/Mechanical Science and Technology | 2001年 / 20卷 / 06期
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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.
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页码：803 / 805
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