A rotor-separated dynamic modeling method for flexible manipulators based on FS-SEA
文献类型：会议论文
| 作者 | Chen P(陈鹏); Li HY(李洪谊)
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| 出版日期 | 2015 |
| 会议名称 | 2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015 |
| 会议日期 | December 6-9, 2015 |
| 会议地点 | Zhuhai, China |
| 页码 | 668-673 |
| 中文摘要 | A rotor-separated dynamic modelling method is proposed based on the dynamics of spatial operator algebra in this paper, for n-DoF serial flexible-joint manipulators with harmonic reducers and with FS-SEAs (force sourced series elastic actuators) as flexible mechanisms. The completed dynamic model comprises the flexible joint dynamics and the whole arm dynamics. Inverse dynamics and forward dynamics of the two parts are researched respectively, through which the complete rotor-separated dynamic model is finally derived. The modelling method proposed in this paper is verified by simulations. And the simulation results demonstrate the significant advantages of the proposed method. © |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议录 | Proceedings of the 2015 IEEE International Conference on Robotics and Biomimetics
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| 会议录出版者 | IEEE |
| 会议录出版地 | Piscataway, NJ, USA |
| 语种 | 英语 |
| ISBN号 | 978-1-4673-9674-5 |
| WOS记录号 | WOS:000380476200112 |
| 源URL | [http://ir.sia.cn/handle/173321/18614]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Chen P,Li HY. A rotor-separated dynamic modeling method for flexible manipulators based on FS-SEA[C]. 见:2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015. Zhuhai, China. December 6-9, 2015. |
入库方式： OAI收割
来源：沈阳自动化研究所
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