Research on stable envelope holding of elephant-trunk robot driven by single motor
文献类型：会议论文
| 作者 | Wang, Ning2; Wang DQ(王冬琦)1,3 ; Zhang YC(张永超)1,3; Yuan ZQ(袁忠秋)1,3; Ge Z(葛壮)1,3; Liu YW(刘玉旺)1,3
|
| 出版日期 | 2020 |
| 会议日期 | October 16-18, 2022 |
| 会议地点 | Zhanjiang, China |
| 关键词 | Envelope holding stability optimal holding |
| 页码 | 334-338 |
| 英文摘要 | For the application of non-cooperative target acquisition in space, the elephant-trunk robot has the advantages of self-adaptability and large-scale acquisition. However, due to the non-cooperative characteristic of space objects, the stability of the capture process cannot be guaranteed. In this paper, the stable envelope holding of elephant-trunk robot is studied. The whole structure of the robot is a series structure, which can capture the object by envelope holding. On this basis, the holding range and stability of the elephant-trunk robot were studied, and the holding model was established. According to the holding state and holding stability of the elephant-trunk robot, the optimal holding contact point is planned to realize stable envelope holding. |
| 产权排序 | 2 |
| 会议录 | Proceedings - 2020 35th Youth Academic Annual Conference of Chinese Association of Automation, YAC 2020
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | New York |
| 语种 | 英语 |
| ISBN号 | 978-1-7281-7684-0 |
| WOS记录号 | WOS:000659281900059 |
| 源URL | [http://ir.sia.cn/handle/173321/28346]  |
| 专题 | 沈阳自动化研究所_空间自动化技术研究室 |
| 通讯作者 | Liu YW(刘玉旺) |
| 作者单位 | 1.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China 2.The 27th Research Institute of China Electronics Technology Group Corporation, Zhengzhou, China 3.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China |
| 推荐引用方式 GB/T 7714 | Wang, Ning,Wang DQ,Zhang YC,et al. Research on stable envelope holding of elephant-trunk robot driven by single motor[C]. 见:. Zhanjiang, China. October 16-18, 2022. |
入库方式： OAI收割
来源：沈阳自动化研究所
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