Hostname: page-component-cd9895bd7-gvvz8 Total loading time: 0 Render date: 2024-12-25T08:09:54.671Z Has data issue: false hasContentIssue false
  • English
  • Français

On the use of time-varying inertia links to increase the versatility of manipulators*

Published online by Cambridge University Press:  09 March 2009

Guy Jumarie
Guy Jumarie
Affiliation:
Department of Mathematics and Computer Sciences, Université du Québec à Montréal, P.O. Box 8888, St “A”, Montréal, QUE, H3C 3P8 (Canada)
Get access Rights & Permissions [Opens in a new window]

Summary

For a manipulator which works in a given fixed environment, like in manufacturing plants for instance, the control system may be designed in a fixed definite way. But when the characteristics of this environment is subject to variations, e.g. change in the mass of the object to be moved, it is necessary to endow the manipulator with some versatility which allows it to adapt itself to the new working conditions. The purpose of the paper is to show that the use of links with varying inertia is a possible way to achieve this flexibility.

Type
Article
Information
Robotica , Volume 4 , Issue 2 , April 1986 , pp. 101 - 105
Copyright
Copyright © Cambridge University Press 1986

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Vukobratovič, M. and Stokič, D., Scientific Fundamental of Robotics 2. Control of manipulators (Springer Verlag, Berlin, 1982).Google Scholar
2.Paul, R.P., Robot Manipulators (MIT Press, Cambridge, Mass. 1982).Google Scholar
3.Lozano, R. and Landau, I.D., “Redesign of Explicit and Implicit Discrete Time Model Reference Adaptive Control Schemes” Int. J. Control 33, No. 2247–268 (1981).CrossRefGoogle Scholar
4.Horowitz, R. and Tomizuka, M., “Discrete time Model Reference Adaptive Control of Mechanical Manipulators” ASME Conf. on Computers in Engineering 2, 107–112 (1982).Google Scholar
5.Utkin, V.I., “Variable Structure System with Sliding Modes: a Survey” IEEE Trans. Automatic Control AC-22, 212–222 (1977).CrossRefGoogle Scholar
6.Young, D. Kar-Keung, “Controller Design for a Manipulator Using Theory of Variable Structure System” In: Robot Motion (Edited by Brady, M. et al. ) (M.I.T., Cambridge, Mass., 1982) pp. 201–219.Google Scholar