Application of the redundant servomotor approach to design of path generator with dynamic performance improvement
文献类型：期刊论文
| 作者 | Sun, Zhihong2; Zhang, Bing2; Cheng, Long3 ; Zhang, W. J.1,2
|
| 刊名 | MECHANISM AND MACHINE THEORY
 |
| 出版日期 | 2011-11-01 |
| 卷号 | 46期号:11页码:1784-1795 |
| 关键词 | Path generation Servomotor Redundancy Shaking moment |
| 英文摘要 | In a companion paper published elsewhere [4], we proposed a design approach based on the general redundancy concept to improving the dynamic performance of a mechanism, especially shaking moment and driving torque attenuation. The approach was based on the redundancy function of the servomotor, so the approach is called redundancy servomotor (RSM). In this paper, we apply the RSM to the path generator problem in mechanism design. We will demonstrate how path generator design and dynamic performance improvement can be performed in an integrated manner with the RSM approach. The proposed RSM design procedure can be applied to any type of path generators (four-bar linkage, five-bar linkage, etc.). The contribution of this paper is the proposed RSM design procedure and technique with which to result in a path generator with a better dynamic performance. The other contribution is the proposed approach to the design of the servomotor's trajectory or plan, which is useful to the joint-level path planning problem in robotics. (C) 2011 Elsevier Ltd. All rights reserved. |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Engineering, Mechanical |
| 研究领域[WOS] | Engineering |
| 关键词[WOS] | SHAKING MOMENT ; MECHANISMS |
| 收录类别 | SCI |
| 语种 | 英语 |
| WOS记录号 | WOS:000294246400017 |
| 源URL | [http://ir.ia.ac.cn/handle/173211/3429]  |
| 专题 | 自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队 |
| 作者单位 | 1.Univ Saskatchewan, Dept Mech Engn, Saskatoon, SK S7N 5A9, Canada 2.Donghua Univ, Coll Mech Engn, Shanghai 201620, Peoples R China 3.Chinese Acad Sci, Inst Automat, State Key Lab Intelligent Control & Management Co, Beijing 100190, Peoples R China |
| 推荐引用方式 GB/T 7714 | Sun, Zhihong,Zhang, Bing,Cheng, Long,et al. Application of the redundant servomotor approach to design of path generator with dynamic performance improvement[J]. MECHANISM AND MACHINE THEORY,2011,46(11):1784-1795. |
| APA | Sun, Zhihong,Zhang, Bing,Cheng, Long,&Zhang, W. J..(2011).Application of the redundant servomotor approach to design of path generator with dynamic performance improvement.MECHANISM AND MACHINE THEORY,46(11),1784-1795. |
| MLA | Sun, Zhihong,et al."Application of the redundant servomotor approach to design of path generator with dynamic performance improvement".MECHANISM AND MACHINE THEORY 46.11(2011):1784-1795. |
入库方式： OAI收割
来源：自动化研究所
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