| 一个超冗余度移动操作臂机器人系统的实现与运动控制 |
| |
| 引用本文： | 贾庆轩,战强,孙汉旭,洪磊.一个超冗余度移动操作臂机器人系统的实现与运动控制[J].中国航空学报,2006,19(1):83-88. |
| |
| 作者姓名： | 贾庆轩 战强 孙汉旭 洪磊 |
| |
| 作者单位： | [1]Robotics Institute, Beijing University of Aeronautics and Astronautics, Beijing 100083, China [2]School of Automation, Beijing University of Post and Telecommunications, Beijing 100876, China |
| |
| 摘 要： | 冗余度或超冗余度移动操作臂机器人可在空间站上为宇航员提供很大的帮助.对一个超冗余度移动操作臂机器人系统的设计和实现作了介绍,这个系统由一个8自由度的模块机器人和一个1自由度的电机驱动的导轨组成;对该系统的逆运动学解法进行了讨论,提出了一种基于避关节极限与位形优化的简化逆运动学控制方法;并提供了仿真和实验结果.
|
| 关 键 词： | 移动操作臂 超冗余度机器人 逆运动学 mobile manipulator hyper-redundant manipulator inverse kinematics |
| 文章编号： | 1000-9361（2006）01-0083-06 |
| 收稿时间： | 2005-05-18 |
| 修稿时间： | 2005-07-21 |
Implementation and Kinematic Control of a Hyper-redundant Mobile Manipulator System |
| |
| JIA Qing-xuan,ZHAN Qiang,SUN Han-xu,HONG Lei.Implementation and Kinematic Control of a Hyper-redundant Mobile Manipulator System[J].Chinese Journal of Aeronautics,2006,19(1):83-88. |
| |
| Authors: | JIA Qing-xuan ZHAN Qiang SUN Han-xu HONG Lei |
| |
| Institution: | 1,Robotics Institute, Beijing University of Aeronautics and Astronautics, Beijing 100083, China;2, School of Automation, Beijing University of Post and Telecommunications, Beijing 100876, China |
| |
| Abstract: | Redundant or hyper-redundant mobile manipulator can give lots of assistance to astronauts in space station. The design and implementation of a hyper-redundant mobile manipulator system are described, which is composed of an 8 DOF module robot and a 1 DOF motorized rail. Inverse kinematic resolution of the system is discussed and one simplified control method based on joint limit avoidance and configuration optimization is proposed. Simulation and experimental results are presented. |
| |
| Keywords: | mobile manipulator hyper-redundant manipulator inverse kinematics |
| 本文献已被 CNKI 维普 万方数据 ScienceDirect 等数据库收录！ |
