Dynamics and control of a gravity-assisted underactuated robot arm for assembly operations inside an aircraft wing-box

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 2006, Issue , 2006, Pages 701-706

  Roy, Binayak ^a   Harry Asada, H ^a  

^a Massachusetts Institute of Technology Cambridge   (United States)

Author keywords

Aircraft manufacturing; Gravity actuation; Optimal control; Trajectory parameterization; Underactuated system

Indexed keywords

ACTUATORS; COMPUTER SIMULATION; ELECTROMECHANICAL DEVICES; GRAVITATIONAL EFFECTS; GYROSCOPES; ROBOTIC ASSEMBLY; TRAJECTORIES; WINGS;

AIRCRAFT MANUFACTURING; GRAVITY ACTUATION; OPTIMAL CONTROL; TRAJECTORY PARAMETERIZATION; UNDERACTUATED SYSTEMS;

ROBOTIC ARMS;

EID: 33845620689     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2006.1641792     Document Type: Conference Paper

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