The unified formulation of constrained robot systems
- 6 January 2003
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
Abstract
Four types of constrained robot systems are analyzed: the robot in contact with its environment, the robot with a jig band, two robots carrying a common load, and the robot with internal constraints. A unified formulation of the systems is given using singular systems of differential equations. The formulation poses problems in controller design, trajectory planning, and system simulation that require further work.Keywords
This publication has 2 references indexed in Scilit:
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