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Manipulator motion along a constraint

Published online by Cambridge University Press:  09 March 2009

A. V. Lensky ,
A. B. Lizunov ,
A. M. Formal'sky  and
A. Yu. Shneider
A. V. Lensky
Affiliation:
Institute for Information Transmission Problems Acad. Sci. USSR, 19 Ermolov str., GSP-4, Moscow (USSR) and Institute for Mechanics of Moscow State University, Moscow (USSR)
A. B. Lizunov
Affiliation:
Institute for Information Transmission Problems Acad. Sci. USSR, 19 Ermolov str., GSP-4, Moscow (USSR) and Institute for Mechanics of Moscow State University, Moscow (USSR)
A. M. Formal'sky
Affiliation:
Institute for Information Transmission Problems Acad. Sci. USSR, 19 Ermolov str., GSP-4, Moscow (USSR) and Institute for Mechanics of Moscow State University, Moscow (USSR)
A. Yu. Shneider
Affiliation:
Institute for Information Transmission Problems Acad. Sci. USSR, 19 Ermolov str., GSP-4, Moscow (USSR) and Institute for Mechanics of Moscow State University, Moscow (USSR)
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Abstract

SUMMARY

This paper is concerned with the problem of keeping contact with a fixed object during the motion of a manipulator gripper along the contour of an object, i.e. along a constraint. The theory of the existence and the stability of stationary regimes of motion along a straight line and a circle is studied.

Type
Articles
Information
Robotica , Volume 4 , Issue 4 , October 1986 , pp. 247 - 253
Copyright
Copyright © Cambridge University Press 1986

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