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http://dx.doi.org/10.5302/J.ICROS.2004.10.10.887

Acceleration Ellipsoid of Multiple Cooperating Robots with Friction Contact  

이원희 (충남대학교 메카트로닉스공학과)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.10, no.10, 2004 , pp. 887-898 More about this Journal
Abstract
In this paper a mathematical framework fur deriving acceleration bounds from given joint torque limits of multiple cooperating robots are described. Especially when the different frictional contacts for every contact are assumed and the torque limits are given in 2-norm sense, we show that the resultant geometrical configuration for the acceleration is composed of corresponding parts of ellipsoids. Since the frictional forces at the contacts are proportional to the normal squeezing forces, the key points of the work includes how to determine internal forces exerted by each robot in order not to cause slip at the contacts while the object is carried by external forces. A set of examples composed of two robot systems are shown with point-contact-with-friction model and insufficient or proper degree of freedom robots.
Keywords
ellipsoid; friction coefficient; multiple robots; contact conditions; dynamic constraints; dynamic manipulability;
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Times Cited By KSCI : 1  (Citation Analysis)
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