Experiments on the PTP operations of a flexible structure mounted manipulator system
Experiments on the PTP operations of a flexible structure mounted manipulator system
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柔性结构安装机械臂系统PTP操作实验
DOI：
10.1109/iros.1996.570684
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发表时间：
1996
期刊：
影响因子：
--
通讯作者：
M. Uchiyama
中科院分区：
文献类型：
--
作者：
Kazuya Yoshida;D. Nenchev;P. Vichitkulsawat;Hiroshi Kobayashi;M. Uchiyama
讨论了柔性结构安装机械臂系统（FSMS）的点到点操作。四大运营策略：利用东北大学开发的FSMS试验台TREP，对（1）关节空间中的直线运动路径、（2）高耦合运动路径、（3）根据耦合映射概念得到的低耦合运动路径、（4）根据无反应运动路径得到的三相运动进行了研究，并就支承柔性结构的最小振动进行了比较。
Point-to-point operation of a flexible structure mounted manipulator systems (FSMS) is discussed. Four operation strategies: (1) straight-line path in joint space, (2) high-coupling path, (3) low-coupling path obtained from the coupling map concept, and (4) 3-phase motion obtained from the reactionless path are examined and compared in terms of a minimum oscillation of the supporting flexible structure, using an FSMS test bed, TREP, developed at Tohoku University.