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Distribution of dynamic loads for multiple cooperating robot manipulatorsFor the situation of multiple cooperating manipulators handling a single object, a formulation is presented which allows load distribution of the combined system to be made while taking manipulator dynamics into account. First, object dynamics are used to transform the motion task. An integrated procedure for modeling arm dynamics are used to transform the motion task. An integrated procedure for modeling arm dynamics is detailed. Then, a method is introduced which transforms the object load to the joint level. At this level, various methods of load distribution that allow subtask performance are proposed. These methods allow desired object motion while selecting loads desirable to alleviate manipulator dynamic loads.
Document ID
19890039052
Acquisition Source
Legacy CDMS
Document Type
Reprint (Version printed in journal)
Authors
Walker, Ian D.
(Texas Univ. Austin, TX, United States)
Marcus, Steven I.
(Texas Univ. Austin, TX, United States)
Freeman, Robert A.
(Texas, University Austin, United States)
Date Acquired
August 14, 2013
Publication Date
February 1, 1989
Publication Information
Publication: Journal of Robotic Systems
Volume: 6
ISSN: 0741-2223
Subject Category
Cybernetics
Report/Patent Number
AD-A219160
AFOSR-TR-90-0312
Accession Number
89A26423
Funding Number(s)
CONTRACT_GRANT: NAG9-188
CONTRACT_GRANT: NSF ECS-84-12100
CONTRACT_GRANT: AF-AFOSR-86-0029
Distribution Limits
Public
Copyright
Other

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