Point-to-point operation of a Flexible Structure mounted Manipulator Systems (FSMS) is discussed. Four operation strategies, i.e. (1) straight-line path in joint space, (2) high-coupling path and (3) low-coupling path derived from the Coupling Map concept, and (4) three-phase motionderived from the Reactionless Path concept, are examined and compared in terms of a minimum oscillation of the supporting flexible structure, using a FSMS testbed, TREP, developed at Tohoku University.
ASJC Scopus subject areas
- Control and Systems Engineering
- Human-Computer Interaction
- Hardware and Architecture
- Computer Science Applications