Full Content is available to subscribers

Subscribe/Learn More  >

Manipulation of Multibody Active Objects Using Simple Passive Manipulators

[+] Author Affiliations
Borhan Beigzadeh, Ali Meghdari, Saeed Sohrabpour

Sharif University of Technology, Tehran, Iran

Paper No. IMECE2010-38049, pp. 597-603; 7 pages
  • ASME 2010 International Mechanical Engineering Congress and Exposition
  • Volume 8: Dynamic Systems and Control, Parts A and B
  • Vancouver, British Columbia, Canada, November 12–18, 2010
  • Conference Sponsors: ASME
  • ISBN: 978-0-7918-4445-8
  • Copyright © 2010 by ASME


In this paper, we study passivity in dynamic manipulation of active objects. Active object is a concept covering a variety of objects, which are not rigid and need to be controlled during manipulation process. In this work, we use multi-link mechanisms with sufficient actuators to be controlled as object and a series of simple 1-DoF passive manipulators to perform such a process. Control of the object, dynamic and motion planning of the system, and stability in presence of impact are significant issues in this study.

Copyright © 2010 by ASME
Topics: Manipulators



Interactive Graphics


Country-Specific Mortality and Growth Failure in Infancy and Yound Children and Association With Material Stature

Use interactive graphics and maps to view and sort country-specific infant and early dhildhood mortality and growth failure data and their association with maternal

Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In