A Framework for Analysis of a Bracing Manipulator with Staged Positioning
Book, Wayne John
MetadataShow full item record
The concepts of staging and bracing arc introduced with the specific example of a bracing manipulator. Staging describes the operational strategy which divides the positioning procedure into two or more levels to maximize the efficiency of the total positioning system. A bracing manipulator can be operated like a two-stage motion system. The bracing effect is evaluated from the view point of reduction of positioning uncertainty. Uncertainty sources in the manipulator, and the reduction of the positioning uncertainty by geometric bracing constraints arc analyzed. The framework of controlling a bracing manipulator will be discussed with the hybrid position and force control.