{"title":"A dynamic model for two manipulators handling a pin-jointed object","authors":"Y. Zhou","doi":"10.1109/ICSYSE.1991.161146","DOIUrl":null,"url":null,"abstract":"The dynamic modeling of two robots handling an object with a pin-joint is considered. The properties of a rigid pin-jointed object are studied first. The dynamics of the pin-jointed object are highlighted and simplified by combining some of the properties of the rigid pin-jointed object. The forces/torques acting at each end-effector of the robots are analyzed. The force control problem is further described and formulated.<<ETX>>","PeriodicalId":250037,"journal":{"name":"IEEE 1991 International Conference on Systems Engineering","volume":"35 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"IEEE 1991 International Conference on Systems Engineering","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICSYSE.1991.161146","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 0
Abstract
The dynamic modeling of two robots handling an object with a pin-joint is considered. The properties of a rigid pin-jointed object are studied first. The dynamics of the pin-jointed object are highlighted and simplified by combining some of the properties of the rigid pin-jointed object. The forces/torques acting at each end-effector of the robots are analyzed. The force control problem is further described and formulated.<>
京公网安备 11010802042870号
京ICP备2023020795号-1
分享
求助内容：
应助结果提醒方式：
扫码关注我们
