Robotic manipulation of a rotating chain

• Main Authors: Pham, Hung, Pham, Quang-Cuong
• Other Authors: School of Mechanical and Aerospace Engineering
• Format: Article
• Language: English
• Published: 2019
• Subjects: Dynamics; Path Planning; DRNTU::Engineering::Mechanical engineering
• Online Access: https://hdl.handle.net/10356/88949; http://hdl.handle.net/10220/48343
• Institution: Nanyang Technological University

This paper considers the problem of manipulating a uniformly rotating chain: the chain is rotated at a constant angular speed around a fixed axis using a robotic manipulator. Manipulation is quasi-static in the sense that transitions are slow enough for the chain to be always in “rotational equilibr...