The Bracing Strategy for Robot Operation

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Please use this identifier to cite or link to this item: http://hdl.handle.net/1853/39191

Title: The Bracing Strategy for Robot Operation
Author: Book, Wayne John ; Sangveraphunsiri, Viboon ; Le, Sanh
Abstract: A new strategy of robot operation, the bracing strategy, is presented. Under this strategy an arm is moved into position then rigidized by bracing against either the work piece or an auxiliary, static structure. Subsequent precision motion does not involve the entire arm, but only degrees of freedom at the end of the arm. The advantage of this strategy is that it allows high speed, precision motion with a light weight, flexible arm. Light arms require smaller actuators, less energy, may be faster, are safer, and are less expensive. Four means of clamping to the structure are considered: A simple normal force, mechanical clamping, vacuum attachment, and magnetic attachment. Each means has restrictions and advantages. Arm control with the bracing strategy requires four modes: gross motion control, rendezvous with the bracing structure, control of gross actuators after bracing and control of fine motion actuators distal to the bracing point.
Description: © 1985 MIT Press. Presented at the 5th Joint IFToMM-CISM Symposium on the Theory of Robots and Manipulators (RoManSy), Udine, Italy, June 1984.
Type: Proceedings
Pre-print
URI: http://hdl.handle.net/1853/39191
ISBN: 0262132087
Citation: Book, Wayne, V. Sangveraphunsiri, and S. Le, "The Bracing Strategy for Robot Operation," Theory and practice of robots and manipulators : proceedings of RoManSy ’84, the Fifth CISM-IFToMM Symposium, A. Morecki, G. Bianchi, and K. Kedzior, eds. 1985.
Date: 1984-06
Contributor: Georgia Institute of Technology. School of Mechanical Engineering
Georgia Institute of Technology. Center for Robotics and Intelligent Machines
Publisher: Georgia Institute of Technology
MIT Press
Subject: Bracing strategies
Lightweight manipulator arms
Robot operation
Control system analysis

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