CINECA IRIS Institutional Research Information System
IRIS è la soluzione IT che facilita la raccolta e la gestione dei dati relativi alle attività e ai prodotti della ricerca. Fornisce a ricercatori, amministratori e valutatori gli strumenti per monitorare i risultati della ricerca, aumentarne la visibilità e allocare in modo efficace le risorse disponibili.
EnglishIn this paper a new method for achieving isotropic compliance at the contact point is applied to a manipulator for packaging operation. Two different manipulators are considered, namely, PR and PPR. The paper discloses some different strategies for stiffness control, with the purpose of contact force optimization. The control system acts on the controlled joint stiffness in such a way that the contact force, in the Cartesian Space, will be parallel to the displacement of the contact point. Such feature minimizes friction and wear during packaging operations and minimize tangential reactions.
Scheda prodotto non validato
Attenzione! I dati visualizzati non sono stati sottoposti a validazione da parte dell'ateneo
| Titolo: | Optimal joint stiffness regulation in a planar robot for packaging operations |
| Autori: | |
| Data di pubblicazione: | 2014 |
| Abstract: | In this paper a new method for achieving isotropic compliance at the contact point is applied to a manipulator for packaging operation. Two different manipulators are considered, namely, PR and PPR. The paper discloses some different strategies for stiffness control, with the purpose of contact force optimization. The control system acts on the controlled joint stiffness in such a way that the contact force, in the Cartesian Space, will be parallel to the displacement of the contact point. Such feature minimizes friction and wear during packaging operations and minimize tangential reactions. |
| Handle: | http://hdl.handle.net/11567/940828 |
| ISBN: | 9780791845851 |
| Appare nelle tipologie: | 04.01 - Contributo in atti di convegno |
File in questo prodotto:
Copyright © 2021