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This work was to develop a switch control approach for operating constrained mechanisms such as screwing valves or opening doors by using a rescuing mobile manipulator. The main concern is the prevention of generation of large internal forces attributed to location errors or imprecise parameter identification. Unlike conventional active or passive control methods, the proposed concept employs the...
Rigid link and flex link double-slide mechanism were studied in this paper. The different links made the mechanism have different degree of freedom. Based on the same motion of one slide, two kinds of mechanism kinematics were analyses. Motion functions were built up, gave out the motion curves. The results proved rigid link and flex link make the mechanism motion change wholly. The theory and the...
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