摘要
提出在一个7-DOF移动三维机械臂模型基础上的分解运动速度协调控制算法,实现了移动本体和末端执行器的协调运动控制.通过移动三维机械臂的仿真说明了移动三维机械臂具有移动操作特性,并拥有很大的工作空间.三维仿真结果证明了所提出方法的有效性.
Based on the motion characteristic and operation features, we put forward a resolved motion rate control arithmetic based on a 7-DOF mobile manipulator model in space 3D, which achieves harmonious mobile control between moving objects and end effectors. The simulation of the mobile 3D manipulator shows that the mobile 3D manipulator is capable of motional operation with a huge workspace.
出处
《南昌工程学院学报》
CAS
2009年第4期12-14,19,共4页
Journal of Nanchang Institute of Technology
关键词
移动三维机械臂
移动操作
广义雅可比矩阵
分解运动速度控制
运动规划
3D mobile manipulator
mobile operation
Generalized Jaeobian Matrix
resolved motion rate control
motion planning
