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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)
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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

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References

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