Loading...

Control and manipulation of multibody objects

Beigzadeh, B ; Sharif University of Technology | 2010

397 Viewed
  1. Type of Document: Article
  2. DOI: 10.1115/ESDA2010-24203
  3. Publisher: 2010
  4. Abstract:
  5. In this work, we study a kind of manipulation process during which we deal with active objects. An active object is a concept covering a variety of objects that are not rigid and need to be controlled during the manipulation process. Here, we use a multi-link mechanism with active motors (actuator) as the object and a series of simple planar manipulators to perform the manipulation process. Dynamic, control, motion planning, and stability at the presence of impact are the most important challenges in this work
  6. Keywords:
  7. Active object ; Multi-body ; Multi-link ; Planar manipulator ; Manipulators ; Systems analysis ; Process control
  8. Source: ASME 2010 10th Biennial Conference on Engineering Systems Design and Analysis, ESDA2010, 12 July 2010 through 14 July 2010, Istanbul ; Volume 3 , 2010 , Pages 579-584 ; 9780791849170 (ISBN)
  9. URL: http://proceedings.asmedigitalcollection.asme.org/proceeding.aspx?articleid=1618226