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Feasibility Evaluation of Dynamically Linearized Kinematically Redundant Planar and Spatial Manipulators

机译：动态线性化运动学冗余平面和空间机器人的可行性评估

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The application of dynamic linearization to kinematically redundant planar and spatial manipulators to determine the feasibility of dexterous robots exhibiting both high mechanical and computational speed is investigated. The data result from extensive numerical simulation based on analytically derived equations of motion and optimal control. The results for the planar configurations differ significantly from those for the spatial designs. In comparing planar dynamically linearized manipulators with standard non-linear designs, it is shown that there is a significant advantage in using a redundant dynamically linearized design. In the analysis of spatial manipulators, the application appears to be of limited utility for most industrial applications. For the spatial designs, the most promising concept is the kinematically redundant standard (non-linear) manipulator.

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作者
Gompertz, R. S.;
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年度 1987
页码 p.1-118
总页数 118
原文格式 PDF
正文语种 eng
中图分类工业技术;
关键词
Robots ; Manipulators ; Performance evaluation ; Automatic control equipment ; Trajectories ; Optimization ; Kinematics;

机译：机器人;机器人;性能评估;自动控制设备;轨迹;优化;运动学;

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专利

1. 具有冗余度的三分支空间机器人的运动学分析 [J] . 贾庆轩, 叶平, 孙汉旭, 中国航空学报（英文版） . 2005,第004期
2. Solving the kinematics and dynamics of a modular spatial hyper-redundant manipulator by means of screw theory [J] . J. Gallardo-Alvarado, C. R. Aguilar-Nájera, L. Casique-Rosas, Multibody System Dynamics . 2008,第4期

机译：利用螺旋理论求解模块化空间超冗余机械手的运动学和动力学
3. Solving the kinematics and dynamics of a modular spatial hyper-redundant manipulator by means of screw theory [J] . Gallardo-Alvarado J, Aguilar-Najera CR, Casique-Rosas L, Multibody system dynamics . 2008,第4期

机译：利用螺旋理论求解模块化空间超冗余机械臂的运动学和动力学
4. Dynamic analysis and optimization of a kinematically redundant planar parallel manipulator [J] . Boudreau Roger, Leger Jeremie, Tinaou Hakim, Transactions of the Canadian Society for Mechanical Engineering . 2018,第1期

机译：运动学冗余平面平行机械手的动态分析与优化
5. Feasibility evaluation of dynamically linearized kinematically redundant planar manipulators [C] . Gompertz, R.S., Yang, . 1988

机译：动态线性化运动学冗余平面机械臂的可行性评估
6. Kinematic analysis, dynamic analysis and static balancing of planar and spatial parallel mechanisms or manipulators with revolute actuators. [D] . Wang, Jiegao. 1998

机译：带有旋转执行器的平面和空间并联机构或机械手的运动学分析，动态分析和静态平衡。
7. Joint Torque Reduction of a Three Dimensional Redundant Planar Manipulator [O] . Samer Yahya, Mahmoud Moghavvemi, Haider Abbas F. Almurib 2012

机译：三维冗余平面操纵器的联合转矩减小
8. Dynamic analysis and optimization of a kinematically redundant planar parallel manipulator [O] . Roger Boudreau, Jérémie Léger, Hakim Tinaou, 2018

机译：运动学冗余平面手动机构的动态分析与优化
9. Adaptive Nonlinear Tracking Control of Kinematically Redundant Robot Manipulators with Sub-Task Extensions [R] . Tatlicioglu, E. , McIntyre, M. , Dawson, D. , 2005

机译：具有子任务扩展的运动冗余机器人自适应非线性跟踪控制

Feasibility Evaluation of Dynamically Linearized Kinematically Redundant Planar and Spatial Manipulators

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