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ICRA
2002
IEEE

Impulse Measure Based Performance Analysis of Sawing Task by Dual Arm

9 years 4 months ago
Impulse Measure Based Performance Analysis of Sawing Task by Dual Arm
- Some of manufacturing tasks such as sawing task often requires continuous impulsive motion. In case of sawing task, such impulsive motions can be observed between the teeth of the saw and the object. The amount of the external impulse exerted on the object has been treated as an important control parameter. Also, the internal impulses experienced at the joints should be simultaneously taken into account to avoid serious damage or injury at the joints. The purpose of this work is to improve the efficacy of sawing task by using dual arm. For this, an external impulse model for sawing task is suggested. Also, the closed-form internal impulse models are proposed for both a single and dual arms. Based on these models, a new measure for internal impulse is proposed. A normalized impulse ellipsoid reflecting the velocity direction is employed to visualize the impact geometry. Finally, the optimal sawing region is identified in which the amount of external impulse is maximized and the amount...
Jae Hoon Lee, Byung-Ju Yi, Sang-Rok Oh, Il Hong Su
Added 15 Jul 2010
Updated 15 Jul 2010
Type Conference
Year 2002
Where ICRA
Authors Jae Hoon Lee, Byung-Ju Yi, Sang-Rok Oh, Il Hong Suh
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