Definition, Determination and Characterization of Acceleration Sets for Spatial Manipulators

Abstract

In this report the approach developed by the authors, for systematically studying the acceleration capabilities and acceleration properties of the end-effector of a planar 2 degree-of-freedom manipulator, is extended to the general spatial manipulator with three degrees-of-freedom. A central feature of this report is the determination of the properties of the quadratic mapping between the joint-velocity space and the acceleration space of P which then makes it possible to obtain analytical solutions for most acceleration properties of interest. We show that a fundamental way of studying these quadratic mappings is in terms of the mapping of (input) line congruences into (output) line congruences. (KR)

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Document Details

Document Type
Technical Report
Publication Date
Jul 01, 1989
Accession Number
ADA213366

Entities

People

  • Subhas Desa
  • Yong-yil Kim

Organizations

  • Carnegie Mellon University

Tags

Communities of Interest

  • Air Platforms

DTIC Thesaurus Topics

  • Actuators
  • Algebraic Geometry
  • Availability
  • Boundaries
  • Classification
  • Equations
  • Geometry
  • Manipulators
  • Mechanical Engineering
  • Notation
  • Projective Geometry
  • Robotics
  • Security
  • Set Theory
  • Three Dimensional
  • Two Dimensional
  • Vector Spaces

Fields of Study

  • Physics

Readers

  • Control Systems Engineering.
  • Graph Algorithms and Convex Optimization.
  • Robotics and Automation.

Technology Areas

  • Space
  • Space - Hall-Effect Thruster
  • Space - Orbital Debris
  • Space - Spacecraft Maneuvers