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Experiments on the point-to-point operations of a flexible structure mounted manipulator system

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Point-to-point operation of a Flexible Structure mounted Manipulator Systems (FSMS) is discussed. Four operation strategies, i.e. (1) straight-line path in joint space, (2) high-coupling path and (3) low-coupling path derived from the Coupling Map concept, and (4) three-phase motion derived from the Reactionless Path concept, are examined and compared in terms of a minimum oscillation of the supporting flexible structure, using a FSMS testbed, TREP, developed at Tohoku University.
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Document Type: Research Article

Affiliations: 1: Department of Aeronautics and Space Engineering, Tohoku University Aobayama Campus, Sendai 980-77, Japan 2: Siam-Hitachi Elevator Co., Ltd., Chonbun, Thailand 3: Automotive Product Division, Hitachi Ltd., Ibaraki 312, Japan

Publication date: 1996-01-01

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