Kinematics analysis and trajectory validation of two cooperative manipulators handling a flexible beam
Kinematics and a trajectory are necessary for dynamics modelling and control design of two cooperative manipulators in handling a flexible beam. Lack of information regarding the kinematics and the trajectory of a system can lead to inaccuracy and infeasibility results of the simulation and the...
| Main Authors: | , |
|---|---|
| Format: | Proceeding Paper |
| Language: | English English English |
| Published: |
Institute of Electrical and Electronics Engineers Inc.
2019
|
| Subjects: | |
| Online Access: | http://irep.iium.edu.my/79658/ http://irep.iium.edu.my/79658/1/79658_Kinematics%20Analysis%20and%20Trajectory%20_complete.pdf http://irep.iium.edu.my/79658/2/79658_Kinematics%20Analysis%20and%20Trajectory%20_scopus.pdf http://irep.iium.edu.my/79658/3/79658_Kinematics%20Analysis%20and%20Trajectory%20_wos.pdf |
| _version_ | 1848788811531681792 |
|---|---|
| author | Samewoi, Abdul Rahman Zainul Azlan, Norsinnira |
| author_facet | Samewoi, Abdul Rahman Zainul Azlan, Norsinnira |
| author_sort | Samewoi, Abdul Rahman |
| building | IIUM Repository |
| collection | Online Access |
| description | Kinematics and a trajectory are necessary for
dynamics modelling and control design of two cooperative
manipulators in handling a flexible beam. Lack of information
regarding the kinematics and the trajectory of a system can lead
to inaccuracy and infeasibility results of the simulation and the
experiment. This paper presents kinematics analysis and
trajectory validation of two cooperative manipulators handling
a flexible beam. The kinematics of the system and the desired
trajectory is validated by using Simulink and geometrically
visualised by using GeoGebra. Simulation results showed that
joint angles and the manipulators’ configuration were
influenced by some parameters such as the positions and the
orientation of beam’s midpoint, the base distance between two
manipulators, the manipulators’ elbow-typed configuration as
well as the radius and the centre point of the circular desired
trajectory. |
| first_indexed | 2025-11-14T17:46:45Z |
| format | Proceeding Paper |
| id | iium-79658 |
| institution | International Islamic University Malaysia |
| institution_category | Local University |
| language | English English English |
| last_indexed | 2025-11-14T17:46:45Z |
| publishDate | 2019 |
| publisher | Institute of Electrical and Electronics Engineers Inc. |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | iium-796582020-07-13T03:19:35Z http://irep.iium.edu.my/79658/ Kinematics analysis and trajectory validation of two cooperative manipulators handling a flexible beam Samewoi, Abdul Rahman Zainul Azlan, Norsinnira T Technology (General) TJ170 Mechanics applied to machinery. Dynamics Kinematics and a trajectory are necessary for dynamics modelling and control design of two cooperative manipulators in handling a flexible beam. Lack of information regarding the kinematics and the trajectory of a system can lead to inaccuracy and infeasibility results of the simulation and the experiment. This paper presents kinematics analysis and trajectory validation of two cooperative manipulators handling a flexible beam. The kinematics of the system and the desired trajectory is validated by using Simulink and geometrically visualised by using GeoGebra. Simulation results showed that joint angles and the manipulators’ configuration were influenced by some parameters such as the positions and the orientation of beam’s midpoint, the base distance between two manipulators, the manipulators’ elbow-typed configuration as well as the radius and the centre point of the circular desired trajectory. Institute of Electrical and Electronics Engineers Inc. 2019-10 Proceeding Paper PeerReviewed application/pdf en http://irep.iium.edu.my/79658/1/79658_Kinematics%20Analysis%20and%20Trajectory%20_complete.pdf application/pdf en http://irep.iium.edu.my/79658/2/79658_Kinematics%20Analysis%20and%20Trajectory%20_scopus.pdf application/pdf en http://irep.iium.edu.my/79658/3/79658_Kinematics%20Analysis%20and%20Trajectory%20_wos.pdf Samewoi, Abdul Rahman and Zainul Azlan, Norsinnira (2019) Kinematics analysis and trajectory validation of two cooperative manipulators handling a flexible beam. In: 7th International Conference on Mechatronics Engineering, ICOM 2019, 30 - 31 Oct 2019, Putrajaya. https://ieeexplore.ieee.org/document/8952048 10.1109/ICOM47790.2019.8952048 |
| spellingShingle | T Technology (General) TJ170 Mechanics applied to machinery. Dynamics Samewoi, Abdul Rahman Zainul Azlan, Norsinnira Kinematics analysis and trajectory validation of two cooperative manipulators handling a flexible beam |
| title | Kinematics analysis and trajectory validation of two cooperative manipulators handling a flexible beam |
| title_full | Kinematics analysis and trajectory validation of two cooperative manipulators handling a flexible beam |
| title_fullStr | Kinematics analysis and trajectory validation of two cooperative manipulators handling a flexible beam |
| title_full_unstemmed | Kinematics analysis and trajectory validation of two cooperative manipulators handling a flexible beam |
| title_short | Kinematics analysis and trajectory validation of two cooperative manipulators handling a flexible beam |
| title_sort | kinematics analysis and trajectory validation of two cooperative manipulators handling a flexible beam |
| topic | T Technology (General) TJ170 Mechanics applied to machinery. Dynamics |
| url | http://irep.iium.edu.my/79658/ http://irep.iium.edu.my/79658/ http://irep.iium.edu.my/79658/ http://irep.iium.edu.my/79658/1/79658_Kinematics%20Analysis%20and%20Trajectory%20_complete.pdf http://irep.iium.edu.my/79658/2/79658_Kinematics%20Analysis%20and%20Trajectory%20_scopus.pdf http://irep.iium.edu.my/79658/3/79658_Kinematics%20Analysis%20and%20Trajectory%20_wos.pdf |