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�������պ����ѧѧ�� 2005, Vol. 31 Issue (07) :814-818    DOI:
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��ΰ��, �ܽ�, ����ǫ, ������*
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Kinematic analysis and simulation for modular manipulators based on screw theory
Chen Weihai, Zhou Jie, Yu Shouqian, Wu Xingming*
School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100083, China

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Abstract�� Based on the screw theory, through analyzing the kinematic relationship of modular robots for velocity model and incremental displacement model, an inverse kinematic approach was developed for modular redundant robots. Since it can be assumed that modular robots have any possible DOFs and configurations, will be assembled and disassembled often, and are easily reconfigured because of having the series and standardization components, a simulation system with self-modeling function for modular manipulators was developed. This simulation system consists of module editor, robot builder, graphical teaching pendants, and motion planning pendants. The effectiveness of the proposed approach and simulation system was demonstrated by a 7-DOF modular serial robot with pick and place demonstration.
Keywords�� modular robots   redundant robots   kinematics   simulation system     
Received 2004-10-30;
Fund:

������Ȼ��ѧ����������Ŀ(50375008);����863�ƻ�������Ŀ(2002AA421160)

About author: ��ΰ��(1955-),��,�㽭��ɽ��,������, whchen55@163.com.
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��ΰ��, �ܽ�, ����ǫ, ������.������������ģ�黯�������˶�ѧ���������[J]  �������պ����ѧѧ��, 2005,V31(07): 814-818
Chen Weihai, Zhou Jie, Yu Shouqian, Wu Xingming.Kinematic analysis and simulation for modular manipulators based on screw theory[J]  JOURNAL OF BEIJING UNIVERSITY OF AERONAUTICS AND A, 2005,V31(07): 814-818
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http://bhxb.buaa.edu.cn//CN/     ��     http://bhxb.buaa.edu.cn//CN/Y2005/V31/I07/814
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