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Dynamic coordination of a self-reconfigurable manipulator systemThe authors present the dynamic coordination of a self-reconfigurable manipulator system capable of changing its mechanical structure according to given task requirements. The self-reconfiguration is achieved by reconfiguring the topology of a dual-arm system through serial, parallel, and bracing structures. Particular emphasis is placed on the dynamic coordination of two arms having three different dual-arm topologies. The authors develop the Cartesian space dynamic models of a dual-arm system of three dual-arm topologies and derive the kinematic and dynamic constraints imposed on two arms in cooperation. Dual-arm dynamic manipulabilities are defined to quantify the dynamic performance of three dual-arm topologies in terms of the efficiency of generating Cartesian accelerations. A methodology of selecting serial, parallel, and bracing structures based on dual-arm dynamic manipulabilities is provided.
Document ID
19930029164
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Kim, Sungbok
(Southern California Univ. Los Angeles, CA, United States)
Lee, Sukhan
(JPL Pasadena, CA, United States)
Date Acquired
August 15, 2013
Publication Date
January 1, 1991
Publication Information
Publication: In: IEEE Conference on Decision and Control, 30th, Brighton, United Kingdom, Dec. 11-13, 1991, Proceedings. Vol. 3 (A93-13001 02-63)
Publisher: Institute of Electrical and Electronics Engineers, Inc.
Subject Category
Cybernetics
Accession Number
93A13161
Distribution Limits
Public
Copyright
Other

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