Kinematics analysis and trajectory validation of two cooperative manipulators handling a flexible beam

Samewoi, Abdul Rahman and Zainul Azlan, Norsinnira (2019) Kinematics analysis and trajectory validation of two cooperative manipulators handling a flexible beam. In: 7th International Conference on Mechatronics Engineering, ICOM 2019, 30 - 31 Oct 2019, Putrajaya.

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Abstract

Kinematics and a trajectory are necessary for dynamics modelling and control design of two cooperative manipulators in handling a flexible beam. Lack of information regarding the kinematics and the trajectory of a system can lead to inaccuracy and infeasibility results of the simulation and the experiment. This paper presents kinematics analysis and trajectory validation of two cooperative manipulators handling a flexible beam. The kinematics of the system and the desired trajectory is validated by using Simulink and geometrically visualised by using GeoGebra. Simulation results showed that joint angles and the manipulators’ configuration were influenced by some parameters such as the positions and the orientation of beam’s midpoint, the base distance between two manipulators, the manipulators’ elbow-typed configuration as well as the radius and the centre point of the circular desired trajectory.

Item Type:	Conference or Workshop Item (Invited Papers)
Additional Information:	4494/79658
Uncontrolled Keywords:	Cooperative manipulators; Flexible beam; Forward and inverse kinematics; Trajectory validation
Subjects:	T Technology > T Technology (General) T Technology > TJ Mechanical engineering and machinery > TJ170 Mechanics applied to machinery. Dynamics
Kulliyyahs/Centres/Divisions/Institutes (Can select more than one option. Press CONTROL button):	Kulliyyah of Engineering > Department of Mechatronics Engineering
Depositing User:	Norsinnira Zainul Azlan
Date Deposited:	11 Jun 2020 16:25
Last Modified:	13 Jul 2020 11:19
URI:	http://irep.iium.edu.my/id/eprint/79658

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