Manipulator motion along a constraint

Abstract

SUMMARYThis paper is concerned with the problem of keeping contact with a fixed object during the motion of a manipulator gripper along the contour of an object, i.e. along a constraint. The theory of the existence and the stability of stationary regimes of motion along a straight line and a circle is studied.

Force Sensing for Multi-Legged Walking Robots: Theory and Experiments Part 2: Force Control of Legged Vehicles

“…Many service and process operations may be considered motions with a mechanical constraint imposed on the manipulated objects. Control algorithms for manipulator systems with motion along constraints are discussed in numerous studies (Mason & Salisbury, 1985;De Schutter & Brussel, 1988;Gorinevsky et al, 1997;Lensky et al, 1986). Similar situations arise out of the motion control of legged platforms as manipulation robots.…”

“…To determine F n , , and , let us assume the longitudinal axis of the tube and the hole are collinear and that the tube moves over the funnel shape without friction. Under the assumptions made, values F n and can be evaluated with the help of the force sensor as in (Lensky et al, 1986;Gorinevsky et al, 1997). Coefficients and F PX have been selected experimentally:…”

Six-legged robot for service operations

“…The second elaborated algorithm of body motion control is based on the complex motion as a superposition of two "basic" motions -motion in the normal direction to the surface of the object and motion along the tangent to the surface [8]:…”