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工业机器人在特殊位形下的瞬时运动
Alternative TitleINSTANTANEOUS MOTION OF STANF0RD INDUSTRIAL ROBOT AT SPECIAL CONFIGURATIONS
王晶; 黄真
Department中国科学院沈阳自动化研究所
Source Publication机器人
ISSN1002-0446
1997
Volume19Issue:4Pages:250-255
Indexed ByEI ; CSCD
EI Accession number1997123981247
CSCD IDCSCD:379715
Contribution Rank1
Funding Organization国家自然科学基金
Keyword工业机器人 反螺旋 特殊位形
Abstract本文具体分析了工业机器人在特殊位形下的瞬时运动,以STANFORD机器人为例,分析其在特殊位形下约束运动的性质及允许移动的方向和转动时轴线存在的子空间.得出反螺旋的螺距为零时,处于特殊位形下的6种组合形式,并给出了每种特殊位形在参考坐标系中的反螺旋及存在的运动螺旋的一般表达式和相应的运动图谱.
Other AbstractIn this paper,the instantaneous motions of a industrial robot at special configurations are analyzed,and the characteristics of the constrained motions,the direction of the permitted motion and the subspaces of the existed rotational axes of the robot STANFORD at special configurations are discussed in detail.Furthermore,6 independent types at special configurations are obtained when the pitch of the reciprocal screw is zero.Finally.the general expressions of the reciprocal and existed motion screws in the reference coordinate system are given under all circumstances at special configurations and the atlas o{the spatial motion is illustrated.
Language中文
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Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/15691
Collection沈阳自动化所知识产出(2000年前)
Affiliation1.燕山大学机器人研究室
2.中国科学院机器人学开放研究实验室
Recommended Citation
GB/T 7714
王晶,黄真. 工业机器人在特殊位形下的瞬时运动[J]. 机器人,1997,19(4):250-255.
APA 王晶,&黄真.(1997).工业机器人在特殊位形下的瞬时运动.机器人,19(4),250-255.
MLA 王晶,et al."工业机器人在特殊位形下的瞬时运动".机器人 19.4(1997):250-255.
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