Efficient kinematic solution to a multi-robot with serial and parallel mechanisms
文献类型：会议论文
| 作者 | Zhang Houxiang; Salvietti Gionata; Wang Wei; Li Guoyuan; Yu Junzhi ; Zhang Jianwei
|
| 出版日期 | 2010 |
| 会议名称 | IEEE/RSJ International Conference on Intelligent Robots and Systems |
| 会议日期 | 2010.10 |
| 会议地点 | Taipei, Taiwan |
| 关键词 | Jacobian matrices Robots |
| 页码 | 6101-6106 |
| 通讯作者 | Zhang Houxiang |
| 英文摘要 | This paper presents an efficient kinematical solution to a multi-robot system with serial and parallel mechanisms. JL-I is a reconfigurable robot featuring active spherical joints formed by serial and parallel mechanisms endowing the robotic system with the ability of changing shapes in three dimensions. The active joint here can combine the advantages of the high rigidity of a parallel mechanism and the extended workspace of a serial mechanism. However, the kinematic analysis of the serial and parallel mechanism is always the bottleneck in designing a robot and control realization. In order to deal with this problem, the whole kinematical analysis is organized in the sequence from the direct mechanical analysis related to the serial and parallel mechanism over the numerical solutions to the simplified kinematics expression. The latest results obtained demonstrate that the deduced closure-form solution is time efficient and easy to implement while offering a satisfactory motion performance in on-site experiments. |
| 收录类别 | EI |
| 会议录 | IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
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| 源URL | [http://ir.ia.ac.cn/handle/173211/4865]  |
| 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 |
| 推荐引用方式 GB/T 7714 | Zhang Houxiang,Salvietti Gionata,Wang Wei,et al. Efficient kinematic solution to a multi-robot with serial and parallel mechanisms[C]. 见:IEEE/RSJ International Conference on Intelligent Robots and Systems. Taipei, Taiwan. 2010.10. |
入库方式： OAI收割
来源：自动化研究所
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