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TECHNICAL PAPERS

Synthesis of Nominal Motion of the Multi-Arm Cooperating Robots With Elastic Interconnections at the Contacts

[+] Author and Article Information
Milovan Živanović

VTI VJ, Institute of Aeronautics, 11000 Belgrade, Yugoslavia

Miomir Vukobratović

Robotics Department, Mihailo Pupin Institute, 11000 Belgrade, Yugoslavia

J. Dyn. Sys., Meas., Control 126(2), 336-346 (Aug 05, 2004) (11 pages) doi:10.1115/1.1767853 History: Received January 03, 2000; Revised November 29, 2000; Online August 05, 2004
Copyright © 2004 by ASME
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References

Živanović,  M., and Vukobratović,  M., 1997, “General Mathematical Model of Multi-Arm Cooperating Robots With Elastic Interconnection at the Contact,” ASME J. Dyn. Syst., Meas., Control, 119, pp. 707–117, December.
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Figures

Grahic Jump Location
Nominal trajectory of the object’s MC
Grahic Jump Location
Linear cooperative system
Grahic Jump Location
Nominals for “linear cooperative system”

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