| contributor author | E. Tabarah | |
| contributor author | B. Benhabib | |
| contributor author | R. G. Fenton | |
| date accessioned | 2017-05-08T23:44:55Z | |
| date available | 2017-05-08T23:44:55Z | |
| date copyright | December, 1994 | |
| date issued | 1994 | |
| identifier issn | 1050-0472 | |
| identifier other | JMDEDB-27622#1177_1.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/114006 | |
| description abstract | Two algorithms are developed in this paper for the optimal motion coordination of a pair of industrial robots engaged in contact operations such as part machining or deburring. In the first algorithm the two robots jointly grasp a tool, and move it in such a way that it performs a prescribed contact operation along the surface of a workpiece. In the second algorithm, one robot grasps the tool while a second robot grasps and maneuvers the workpiece; both robots move simultaneously relative to each other so that the tool maintains contact with the workpiece while tracking a prescribed trajectory along its surface at a constant speed. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Motion Planning for Cooperative Robotic Systems Performing Contact Operations | |
| type | Journal Paper | |
| journal volume | 116 | |
| journal issue | 4 | |
| journal title | Journal of Mechanical Design | |
| identifier doi | 10.1115/1.2919505 | |
| journal fristpage | 1177 | |
| journal lastpage | 1180 | |
| identifier eissn | 1528-9001 | |
| keywords | Machining | |
| keywords | Motion | |
| keywords | Robots | |
| keywords | Deburring | |
| keywords | Trajectories (Physics) | |
| keywords | Algorithms | |
| keywords | Robotics AND Path planning | |
| tree | Journal of Mechanical Design:;1994:;volume( 116 ):;issue: 004 | |
| contenttype | Fulltext | |