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Manipulation of multibody active objects using simple passive manipulators

Beigzadeh, B ; Sharif University of Technology | 2010

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  1. Type of Document: Article
  2. DOI: 10.1115/IMECE2010-38049
  3. Publisher: 2010
  4. Abstract:
  5. In this paper, we study passivity in dynamic manipulation of active objects. Active object is a concept covering a variety of objects, which are not rigid and need to be controlled during manipulation process. In this work, we use multi-link mechanisms with sufficient actuators to be controlled as object and a series of simple 1-DoF passive manipulators to perform such a process. Control of the object, dynamic and motion planning of the system, and stability in presence of impact are significant issues in this study
  6. Keywords:
  7. Active object ; Multi-body ; Multi-link ; Passive manipulators ; Manipulators ; Mechanical engineering ; Process control
  8. Source: ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE), 12 November 2010 through 18 November 2010, Vancouver, BC ; Volume 8, Issue PARTS A AND B , 2010 , Pages 597-603 ; 9780791844458 (ISBN)
  9. URL: http://proceedings.asmedigitalcollection.asme.org.ezp2.semantak.com/proceeding.aspx?articleid=1616645