Operational Space Dynamics for Modular Reconfigurable Manipulators
文献类型：会议论文
| 作者 | Wang, Yongchao; Yang, Guilin; Wang, Rencheng; Chen, Chin-Yin; Liu, Liang |
| 出版日期 | 2017 |
| 会议日期 | JUN 18-20, 2017 |
| 关键词 | FORMULATION |
| 英文摘要 | A modular configurable manipulator (MRM) system consists of an inventory of standardized joint and link modules that can he assembled into different manipulator configurations. This paper mainly focuses on the formulation of operational space dynamics for a MRM system. To this end, a configuration-independent geometric modeling approach is employed to formulate the recursive dynamic model for a MRM based on the Newton-Euler method. Consequently, the closed form dynamic equation in joint space is readily generated. Utilizing the generalized inverse of the Jacobian matrix, the closed-form dynamic model of a MRM expressed in operational space is obtained. The simulation results verify the correctness and effectiveness of the proposed algorithm. |
| 会议录出版者 | IEEE Conference on Industrial Electronics and Applications |
| 学科主题 | Engineering |
| ISSN号 | 2156-2318 |
| ISBN号 | 978-1-5090-6161-7 |
| 源URL | [http://ir.nimte.ac.cn/handle/174433/23373]  |
| 专题 | 会议专题 会议专题_会议论文 |
| 推荐引用方式 GB/T 7714 | Wang, Yongchao,Yang, Guilin,Wang, Rencheng,et al. Operational Space Dynamics for Modular Reconfigurable Manipulators[C]. 见:. JUN 18-20, 2017. |
入库方式： OAI收割
来源：宁波材料技术与工程研究所
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