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�������պ����ѧѧ�� 2004, Vol. 30 Issue (05) :475-478    DOI:
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Kinematics analysis of slide redundant manipulator
Zhang Wu, Ding Xilun*
School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100083, China

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ժҪ ����˵����ƶ�ʽ����Ȳ�����ϵͳ�������ʵ��.����ָ����(POE)����������ϵͳ��ģ,�Ըò�����ϵͳ�����������˶�ѧ����,ͬʱ��ϵͳ����������۷��������о�,�����˷����ļ����������.��ϵͳ�˶�ѧ������,���������ϵͳ�ṹ�ļ����ص�,������ϵͳ�򻯷�����ʵ�������Ż����ص�˼·.���˶�ѧ�ķ�����������һ�����ձ���,������������ϵͳ�ķ�����һ���Ľ������.
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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.
Keywords�� redundancy   kinematics   slide   manipulator     
Received 2002-12-27;
Fund:

863�ƻ�������Ŀ(2002AA742044);�����пƼ����Ǽƻ�������Ŀ(H020821450120)

About author: �� ��(1975-),��,���������˰�����,˶ʿ��, xlding@public3.bta.net.cn.
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����, ��ϣ��.�����ƶ�ʽ����Ȳ����۵��˶�ѧ����[J]  �������պ����ѧѧ��, 2004,V30(05): 475-478
Zhang Wu, Ding Xilun.Kinematics analysis of slide redundant manipulator[J]  JOURNAL OF BEIJING UNIVERSITY OF AERONAUTICS AND A, 2004,V30(05): 475-478
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