IEEE - Institute of Electrical and Electronics Engineers, Inc. - Mechanics and Quasi-Static Manipulation of Planar Elastic Kinematic Chains

Author(s): T. Bretl ; Z. McCarthy
Sponsor(s): IEEE Robotics and Automation Society
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 February 2013
Volume: 29
Page Count: 14
Page(s): 1 - 14
ISSN (Paper): 1552-3098
ISSN (Online): 1941-0468
DOI: 10.1109/TRO.2012.2218911
Regular:

In this paper, we study quasi-static manipulation of a planar kinematic chain with a fixed base in which each joint is a linearly elastic torsional spring. The shape of this chain when in static... View More

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