Volume 30 Issue 05
May  2004
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Zhang Wu, Ding Xilun. Kinematics analysis of slide redundant manipulator[J]. Journal of Beijing University of Aeronautics and Astronautics, 2004, 30(05): 475-478. (in Chinese)
Citation: Zhang Wu, Ding Xilun. Kinematics analysis of slide redundant manipulator[J]. Journal of Beijing University of Aeronautics and Astronautics, 2004, 30(05): 475-478. (in Chinese)

Kinematics analysis of slide redundant manipulator

  • Received Date: 27 Dec 2002
  • Publish Date: 31 May 2004
  • 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.

     

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