Improvement of dynamic capabilities of heavy robots
- 1 April 1990
- journal article
- research article
- Published by Cambridge University Press (CUP) in Robotica
- Vol. 8 (3) , 217-222
- https://doi.org/10.1017/s0263574700000072
Abstract
SUMMARY The application of heavy robots is usually restricted to those problems where large loads are carried and high speed is not required. This paper proposes a method for the improvement of robot dynamic capabilities thus enabling a heavy robot to perform the fast manipulation. The approach follows the idea of “distributed positioning” and introduces redundancy. The concept adopted is proved on two different configurations: an elbow-scheme manipulation robot and a gantry welding robot.Keywords
This publication has 3 references indexed in Scilit:
- Applied Dynamics and CAD of Manipulation RobotsPublished by Springer Nature ,1985
- Efficient Computation of the Jacobian for Robot ManipulatorsThe International Journal of Robotics Research, 1984
- Geometric Approach in Solving Inverse Kinematics of PUMA RobotsIEEE Transactions on Aerospace and Electronic Systems, 1984