Design and Motion Planning for a Zero-Reaction Manipulator

Papadopoulos, E; Abu-abed, A

dc.contributor.author	Papadopoulos, E	en
dc.contributor.author	Abu-abed, A	en
dc.date.accessioned	2014-03-01T02:48:13Z
dc.date.available	2014-03-01T02:48:13Z
dc.date.issued	1994	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/33646
dc.subject	Mobile Systems	en
dc.subject	Motion Planning	en
dc.title	Design and Motion Planning for a Zero-Reaction Manipulator	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/ROBOT.1994.351367	en
heal.identifier.secondary	http://dx.doi.org/10.1109/ROBOT.1994.351367	en
heal.publicationDate	1994	en
heal.abstract	In a number of industrial, space, or mobile systems applica- tions, reaction forces and moments transmitted by a manipulator to its base are undesirable. Based on force and moment transmission analysis, a three DOF redundant manipulator design is selected aiming at reactionless motions. Dynamic reaction forces are eliminated by using force balancing. Reaction moments are eliminated by following reactionless paths,	en
heal.journalName	International Conference on Robotics and Automation	en
dc.identifier.doi	10.1109/ROBOT.1994.351367	en