Kinematics analysis of slide redundant manipulator
-
摘要: 简介了导轨移动式冗余度操作臂系统的设计与实现.利用指数积(POE)方法进行了系统建模,对该操作臂系统进行正、逆运动学分析,同时对系统避奇异的理论方法进行研究,给出了方法的计算机仿真结果.在系统运动学分析中,充分利用了系统结构的几何特点,体现了系统简化分析和实际性能优化并重的思路.该运动学的分析方法具有一定的普遍性,对其它机器人系统的分析有一定的借鉴意义.Abstract: The design scheme of the slide redundant manipulator system was introduced. POE(product of exponential) method was applied to build the system model.Forward and inverse kinematics were analyzed. The system singularity avoidance method was studied, and simulation results were given to illustrate the effectiveness of the method. During kinematics analyzing, its geometry characteristics were considered to embody the idea that was both important to system analysis simplification and system property optimization. So the method has universality to a certain extent, and can be extend to analyze the other robot systems.
-
Key words:
- redundancy /
- kinematics /
- slide /
- manipulator
-
[1] David L, Seraji H. Configuration control of a mobile dexterous robot:Real-time implementation and experimentation[J].The International Journal of Robotics Research, 1997, 16(5):601~618 [2]Kreutz-Delgado K, Long M,Seraji H. Kinematics analysis of 7-DOF manipulator[J]. Int J Robot Res, 1992, 11(5):469~481 [3]Seraji H,Colbaugh R. Improved configuration control for redundant robots[J]. J Robotic Systems, 1990,7(6):897~928 [4]Richard M, Li Zexiang, Shankar S S. A mathematical introduction to robotic manipulation[M].Florida:CRC Press, 1994 [5]Selig J M. Geometrical foundations of robotics[M].New York:World Scientific Publishing Co Pte Ltd, 2000 [6]Yoshikawa T. Manipulator of robotic mechanisms[J].The International Journal of Robotics Research, 1985,4(1):3~9 [7]Li Luya, Gruver W A, Zhang Qixian, et al. Real-time control of redundant robots subject to multiple criteria .In:Proceedings of the 1998 IEEE International Conference on R&A .Belgium:Leuven,1998.115~120 -
点击查看大图
计量
- 文章访问数: 2383
- HTML全文浏览量: 69
- PDF下载量: 726
- 被引次数: 0
下载:
