The unified formulation of constrained robot systems
Resource
Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on
Journal
1988 IEEE International Conference on Robotics and Automation
Pages
-
Date Issued
1988-04
Date
1988-04
Author(s)
DOI
N/A
Abstract
Four types of constrained robot systems are analyzed: the robot in contact with its environment, the robot with a jig band, two robots carrying a common load, and the robot with internal constraints. A unified formulation of the systems is given using singular systems of differential equations. The formulation poses problems in controller design, trajectory planning, and system simulation that require further work.>
SDGs
Type
journal article
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