Dynamic force/motion simulation of a rigid-flexible manipulator during task constrained

Ata, Atef A and Johar , Habib (2004) Dynamic force/motion simulation of a rigid-flexible manipulator during task constrained. In: Proceedings of the IEEE International Conference on Mechatronics 2004, ICM'04, 3-5 June 2004, Istanbul.

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Abstract

Constrained motion of a rigid-flexible manipulator in contact with a rotating environment is considered. 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. When the environment is moving, knowledge of the angle a between the contact surface and the horizontal is required at every instant to evaluate the contact force and the rqured torques for a specific atsk. In this paper, different profiles for the time varying angle a are proposed to investigate the interaction between the joints profile and the angular motion of the constrained surface and the effect of this change into the contact force and the joint torques of a rigid-flexible manipulator.

Item Type:	Conference or Workshop Item (Full Paper)
Additional Information:	3846/31028
Uncontrolled Keywords:	Constrained motion; Rigid-flexible manipulator; Moving environment; Analytical solution, Profiles.
Subjects:	T Technology > T Technology (General)
Kulliyyahs/Centres/Divisions/Institutes (Can select more than one option. Press CONTROL button):	Kulliyyah of Engineering > Department of Mechatronics Engineering
Depositing User:	Nor Fathiah Jumiran (Part Time)
Date Deposited:	20 Sep 2013 15:19
Last Modified:	20 Sep 2013 15:19
URI:	http://irep.iium.edu.my/id/eprint/31028

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