摘要
低序体阵列采用“阵列”而非“矩阵”的形式描述多臂机器人系统的拓扑结构．基于低序体阵列，运用偏（角）速度、广义速率等概念，形成多臂机器人系统的运动学模型．该模型以偏（角）速度为方程系数的基本组合模块，具有形式简洁且易于程式化的特声、．以双臂机器人刚性夹持物体为例，讨论了该算例的运动学特性，并给出了相应的数字仿真结果．
n this paper,a lower body array (LBA), which is an'array'but not a 'matrix',is used to describe the topological structure of the multiarm robot system. Based on the LBA and the concepts of partial (angular) velocity and generalized speeds, a kinematic model of the system is developed. The model, in which the partial(angular) velocity is the basic building block, is concise, and can be easily programmed. As an example, kinematics of a dual arm robot grasping an object rigidly is discussed. The simulation results of the system are derived.
出处
《天津大学学报》
EI
CAS
CSCD
1996年第6期834-839,共6页
Journal of Tianjin University(Science and Technology)
基金
国家自然科学基金
关键词
多臂机器人
运动学
拓扑结构
机器人
lower body array
partial(angular) velocity
multiarm robot
kinematics
