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被动动态目标操作: 初步定义和例子

BEIGZADEH Borhan MEGHDARI Ali SOHRABPOUR Saeed

BEIGZADEH Borhan, MEGHDARI Ali, SOHRABPOUR Saeed. 被动动态目标操作: 初步定义和例子. 自动化学报, 2010, 36(12): 1711-1719. doi: 10.3724/SP.J.1004.2010.01711
引用本文: BEIGZADEH Borhan, MEGHDARI Ali, SOHRABPOUR Saeed. 被动动态目标操作: 初步定义和例子. 自动化学报, 2010, 36(12): 1711-1719. doi: 10.3724/SP.J.1004.2010.01711
BEIGZADEH Borhan, MEGHDARI Ali, SOHRABPOUR Saeed. Passive Dynamic Object Manipulation: Preliminary Definition and Examples. ACTA AUTOMATICA SINICA, 2010, 36(12): 1711-1719. doi: 10.3724/SP.J.1004.2010.01711
Citation: BEIGZADEH Borhan, MEGHDARI Ali, SOHRABPOUR Saeed. Passive Dynamic Object Manipulation: Preliminary Definition and Examples. ACTA AUTOMATICA SINICA, 2010, 36(12): 1711-1719. doi: 10.3724/SP.J.1004.2010.01711

被动动态目标操作: 初步定义和例子

doi: 10.3724/SP.J.1004.2010.01711
详细信息
    通讯作者:

    MEGHDARI Ali

Passive Dynamic Object Manipulation: Preliminary Definition and Examples

More Information
    Corresponding author: MEGHDARI Ali
  • 摘要: In this work, we introduce a category of dynamic manipulation processes, namely passive dynamic object manipulation, according to which an object is manipulated passively. Specifically, we study passive dynamic manipulation here. We define the main concept, discuss the challenges, and talk about the future directions. Like other passive robotic systems, there are no actuators in these systems. The object follows a path and travels along it under the effect of its own weight, as well as the interaction force applied by each manipulator on it. We select some simple examples to show the concept. For each example, dynamic equations of motion are derived and the stability of the process is taken into account. In this direction, some rules are derived under which we ensure that the manipulation process does not fail. Simulations support this idea.
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出版历程
  • 收稿日期:  2010-04-11
  • 修回日期:  2010-08-23
  • 刊出日期:  2010-12-20

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