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Dynamic simulation of task constrained of a rigid-flexible manipulator

A rigid-flexible manipulator may be assigned tasks in a moving environment where the winds or vibrations affect the position and/or orientation of surface of operation. Consequently, losses of the contact and perhaps degradation of the performance may occur as references are changed. When the envi...

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Main Authors: Ata, Atef A, Johar, Habib
Format: Article
Language:English
Published: Vienna University of Technology 2004
Subjects:
T Technology (General)
Online Access:http://irep.iium.edu.my/31033/1/InTech-Dynamic_simulation_of_task_constrained_of_a_rigid_flexible_manipulator.pdf
http://irep.iium.edu.my/31033/
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spelling my.iium.irep.310332013-07-31T01:58:17Z http://irep.iium.edu.my/31033/ Dynamic simulation of task constrained of a rigid-flexible manipulator Ata, Atef A Johar, Habib T Technology (General) A rigid-flexible manipulator may be assigned tasks in a moving environment where the winds or vibrations affect the position and/or orientation of surface of operation. Consequently, losses of the contact and perhaps degradation of the performance may occur as references are changed. When the environment is moving, knowledge of the angle α between the contact surface and the horizontal is required at every instant. In this paper, different profiles for the time varying angle α are proposed to investigate the effect of this change into the contact force and the joint torques of a rigid-flexible manipulator. The coefficients of the equation of the proposed rotating surface are changing with time to determine the new X and Y coordinates of the moving surface as the surface rotates. Vienna University of Technology 2004-06 Article REM application/pdf en http://irep.iium.edu.my/31033/1/InTech-Dynamic_simulation_of_task_constrained_of_a_rigid_flexible_manipulator.pdf Ata, Atef A and Johar, Habib (2004) Dynamic simulation of task constrained of a rigid-flexible manipulator. International Journal of Advanced Robotic Systems, 1 (1). pp. 61-66. ISSN 1729-8806
institution Universiti Islam Antarabangsa Malaysia
building IIUM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider International Islamic University Malaysia
content_source IIUM Repository (IREP)
url_provider http://irep.iium.edu.my/
language English
topic T Technology (General)
spellingShingle T Technology (General)
Ata, Atef A
Johar, Habib
Dynamic simulation of task constrained of a rigid-flexible manipulator
description A rigid-flexible manipulator may be assigned tasks in a moving environment where the winds or vibrations affect the position and/or orientation of surface of operation. Consequently, losses of the contact and perhaps degradation of the performance may occur as references are changed. When the environment is moving, knowledge of the angle α between the contact surface and the horizontal is required at every instant. In this paper, different profiles for the time varying angle α are proposed to investigate the effect of this change into the contact force and the joint torques of a rigid-flexible manipulator. The coefficients of the equation of the proposed rotating surface are changing with time to determine the new X and Y coordinates of the moving surface as the surface rotates.
format Article
author Ata, Atef A
Johar, Habib
author_facet Ata, Atef A
Johar, Habib
author_sort Ata, Atef A
title Dynamic simulation of task constrained of a rigid-flexible manipulator
title_short Dynamic simulation of task constrained of a rigid-flexible manipulator
title_full Dynamic simulation of task constrained of a rigid-flexible manipulator
title_fullStr Dynamic simulation of task constrained of a rigid-flexible manipulator
title_full_unstemmed Dynamic simulation of task constrained of a rigid-flexible manipulator
title_sort dynamic simulation of task constrained of a rigid-flexible manipulator
publisher Vienna University of Technology
publishDate 2004
url http://irep.iium.edu.my/31033/1/InTech-Dynamic_simulation_of_task_constrained_of_a_rigid_flexible_manipulator.pdf
http://irep.iium.edu.my/31033/
_version_ 1643609973819703296
score 13.211869

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