Experiments on the PTP operations of a flexible structure mounted manipulator system

K. Yoshida, D. N. Nenchev, P. Vichitkulsawat, H. Kobayashi, Masaru Uchiyama

Research output: Contribution to conferencePaperpeer-review

3 Citations (Scopus)

Abstract

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 and 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.

Original languageEnglish
Pages246-251
Number of pages6
Publication statusPublished - 1996 Dec 1
EventProceedings of the 1996 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. Part 3 (of 3) - Osaka, Jpn
Duration: 1996 Nov 41996 Nov 8

Other

OtherProceedings of the 1996 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. Part 3 (of 3)
CityOsaka, Jpn
Period96/11/496/11/8

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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