Large force-task planning for mobile and redundant robots

Papadopoulos, E; Gonthier, Y

dc.contributor.author	Papadopoulos, E	en
dc.contributor.author	Gonthier, Y	en
dc.date.accessioned	2014-03-01T02:48:18Z
dc.date.available	2014-03-01T02:48:18Z
dc.date.issued	1995	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/33715
dc.title	Large force-task planning for mobile and redundant robots	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/IROS.1995.526152	en
heal.identifier.secondary	http://dx.doi.org/10.1109/IROS.1995.526152	en
heal.publicationDate	1995	en
heal.abstract	This paper analyzes the application of large force/torques by robotic systems with limited force/torque actuators. It is shown that such system may be able to apply a force/torque in some configurations only; therefore its useful force workspace is limited. To improve the force capabilities of a system, base mobility and/or redundancy can be employed. A planning algorithm is proposed which	en
heal.journalName	International Conference on Intelligent Robots and Systems	en
dc.identifier.doi	10.1109/IROS.1995.526152	en