Kinematics analysis and trajectory validation of two cooperative manipulators handling a flexible beam
Kinematics and a trajectory are necessary for dynamics modelling and control design of two cooperative manipulators in handling a flexible beam. Lack of information regarding the kinematics and the trajectory of a system can lead to inaccuracy and infeasibility results of the simulation and the...
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Main Authors: | , |
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Format: | Conference or Workshop Item |
Language: | English English English |
Published: |
Institute of Electrical and Electronics Engineers Inc.
2019
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Subjects: | |
Online Access: | http://irep.iium.edu.my/79658/1/79658_Kinematics%20Analysis%20and%20Trajectory%20_complete.pdf http://irep.iium.edu.my/79658/2/79658_Kinematics%20Analysis%20and%20Trajectory%20_scopus.pdf http://irep.iium.edu.my/79658/3/79658_Kinematics%20Analysis%20and%20Trajectory%20_wos.pdf http://irep.iium.edu.my/79658/ https://ieeexplore.ieee.org/document/8952048 |
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Summary: | Kinematics and a trajectory are necessary for
dynamics modelling and control design of two cooperative
manipulators in handling a flexible beam. Lack of information
regarding the kinematics and the trajectory of a system can lead
to inaccuracy and infeasibility results of the simulation and the
experiment. This paper presents kinematics analysis and
trajectory validation of two cooperative manipulators handling
a flexible beam. The kinematics of the system and the desired
trajectory is validated by using Simulink and geometrically
visualised by using GeoGebra. Simulation results showed that
joint angles and the manipulators’ configuration were
influenced by some parameters such as the positions and the
orientation of beam’s midpoint, the base distance between two
manipulators, the manipulators’ elbow-typed configuration as
well as the radius and the centre point of the circular desired
trajectory. |
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