Experiments on the point-to-point operations of a flexible structure mounted manipulator system

Kazuya Yoshida, Dragomir N. Nenchev, Prasart Vichitkulsawat, Hiroshi Kobayashi, Masaru Uchiyama

Research output: Contribution to journalArticlepeer-review

11 Citations (Scopus)

Abstract

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.

Original languageEnglish
Pages (from-to)397-411
Number of pages15
JournalAdvanced Robotics
Volume11
Issue number4
DOIs
Publication statusPublished - 1996 Jan 1

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Human-Computer Interaction
  • Hardware and Architecture
  • Computer Science Applications

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