Dynamic force/motion simulation of a rigid-flexible manipulator during task constrained
Constrained motion of a rigid-flexible manipulator in contact with a rotating environment is considered. A rigid-flexible manipulator may be assigned tasks in a moving environment where the winds or vibrations affect the position and/or orientation of surface of operation. When the environment is mo...
| Main Authors: | , |
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| Format: | Proceeding Paper |
| Language: | English |
| Published: |
2004
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| Subjects: | |
| Online Access: | http://irep.iium.edu.my/31028/1/Dynamic_ForceMotion_Simulation.pdf |
| _version_ | 1796878111608930304 |
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| author | Ata, Atef A Johar , Habib |
| author_facet | Ata, Atef A Johar , Habib |
| author_sort | Ata, Atef A |
| collection | IIUM |
| description | Constrained motion of a rigid-flexible manipulator in contact with a rotating environment is considered. A rigid-flexible manipulator may be assigned tasks in a moving environment where the winds or vibrations affect the position and/or orientation of surface of operation. When the environment is moving, knowledge of the angle a between the contact surface and the horizontal is required at every instant to evaluate the contact force and the rqured torques for a specific atsk. In this paper, different profiles for the time varying angle a are proposed to investigate the interaction between the joints profile and the angular motion of the constrained surface and the effect of this change into the contact force and the joint torques of a rigid-flexible manipulator.
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| first_indexed | 2024-03-05T23:16:53Z |
| format | Proceeding Paper |
| id | oai:generic.eprints.org:31028 |
| institution | International Islamic University Malaysia |
| language | English |
| last_indexed | 2024-03-05T23:16:53Z |
| publishDate | 2004 |
| record_format | dspace |
| spelling | oai:generic.eprints.org:310282013-09-20T07:19:43Z http://irep.iium.edu.my/31028/ Dynamic force/motion simulation of a rigid-flexible manipulator during task constrained Ata, Atef A Johar , Habib T Technology (General) Constrained motion of a rigid-flexible manipulator in contact with a rotating environment is considered. A rigid-flexible manipulator may be assigned tasks in a moving environment where the winds or vibrations affect the position and/or orientation of surface of operation. When the environment is moving, knowledge of the angle a between the contact surface and the horizontal is required at every instant to evaluate the contact force and the rqured torques for a specific atsk. In this paper, different profiles for the time varying angle a are proposed to investigate the interaction between the joints profile and the angular motion of the constrained surface and the effect of this change into the contact force and the joint torques of a rigid-flexible manipulator. 2004 Proceeding Paper PeerReviewed application/pdf en http://irep.iium.edu.my/31028/1/Dynamic_ForceMotion_Simulation.pdf Ata, Atef A and Johar , Habib (2004) Dynamic force/motion simulation of a rigid-flexible manipulator during task constrained. In: Proceedings of the IEEE International Conference on Mechatronics 2004, ICM'04, 3-5 June 2004, Istanbul. http://ieeexplore.ieee.org/xpl/articleDetails.jsp?tp=&arnumber=1364450&queryText%3D.QT.Dynamic+force%2Fmotion+simulation+of+a+rigid-flexible+manipulator+during+task+constrained.QT. |
| spellingShingle | T Technology (General) Ata, Atef A Johar , Habib Dynamic force/motion simulation of a rigid-flexible manipulator during task constrained |
| title | Dynamic force/motion simulation of a rigid-flexible manipulator during task constrained |
| title_full | Dynamic force/motion simulation of a rigid-flexible manipulator during task constrained |
| title_fullStr | Dynamic force/motion simulation of a rigid-flexible manipulator during task constrained |
| title_full_unstemmed | Dynamic force/motion simulation of a rigid-flexible manipulator during task constrained |
| title_short | Dynamic force/motion simulation of a rigid-flexible manipulator during task constrained |
| title_sort | dynamic force motion simulation of a rigid flexible manipulator during task constrained |
| topic | T Technology (General) |
| url | http://irep.iium.edu.my/31028/1/Dynamic_ForceMotion_Simulation.pdf |
| work_keys_str_mv | AT ataatefa dynamicforcemotionsimulationofarigidflexiblemanipulatorduringtaskconstrained AT joharhabib dynamicforcemotionsimulationofarigidflexiblemanipulatorduringtaskconstrained |