Experiments on the point-to-point operations of a flexible structure mounted manipulator system

被引：11
|
作者：
Yoshida, K
Nenchev, DN
Vichitkulsawat, P
Kobayashi, H
Uchiyama, M
机构：
[1] Tohoku Univ, Dept Aeronaut & Space Engn, Sendai, Miyagi 98077, Japan
[2] Siam Hitachi Elevator Co Ltd, Chonbun, Thailand
[3] Hitachi Ltd, Automot Prod Div, Hitachinaka, Ibaraki 312, Japan
来源：
ADVANCED ROBOTICS | 1997年 / 11卷 / 04期
关键词：
D O I：
10.1163/156855397X00399
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
Point-to-point operation of a Flexible Structure mounted Manipulator Systems (FSMS) is discussed. Four operation strategies, i.e. (1) straight-line path in joint space, (2) high-coupling path and (3) low-coupling path derived from the Coupling Map concept, and (4) three-phase motion derived from the Reactionless Path concept, are examined and compared in terms of a minimum oscillation of the supporting flexible structure, using a FSMS testbed, TREP, developed at Tohoku University.
引用
收藏
页码：397 / 411
页数：15
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