Title: Swing-Free Transport of Suspended Objects With a Path-Controlled Robot Manipulator
Abstract: Objects which cannot be directly grasped by the end effector of a robot manipulator and must be carried by a hook or similar device are susceptible to swinging during transport. For a simply suspended object, it is possible to use a path-controlled manipulator to achieve a swing-free motion. The trajectory consists of an initial acceleration to an intermediate velocity, then a secondary acceleration to final velocity. An experimental demonstration of the method is presented.
Publication Year: 1985
Publication Date: 1985-03-01
Language: en
Type: article
Indexed In: ['crossref']
Access and Citation
Cited By Count: 161
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