Generation of Under-Actuated Manipulators With Nonholonomic Joints From Ordinary Manipulators
نویسندگان
چکیده
منابع مشابه
Generation of Under-Actuated Manipulators With Nonholonomic Joints From Ordinary Manipulators
This paper shows how to generate underactuated manipulators by substituting nonholonomic spherical pairs for (holonomic) spherical pairs in ordinary (i.e. not underactuated) manipulators. As a case study, an underactuated manipulator, previously proposed by one of the authors, is demonstrated to be generated, through this pair substitution from an inversion of the 6-3 fully parallel manipulator...
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this paper presents optimal control method to path planning of mobile robots with flexible joints. dynamic equations are derived and additional kinematic constraints are used to solve the extra dofs arose from base mobility. then with modeling the elasticity at each joint as a linear torsinal spring, the set of equations are formed. the hamiltonian function is formed and the necessary condition...
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ژورنال
عنوان ژورنال: Journal of Mechanisms and Robotics
سال: 2009
ISSN: 1942-4302,1942-4310
DOI: 10.1115/1.4000527