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Omnidirectional analysis of spatial manipulator
Leng YQ(冷雨泉); Zhang Y(张阳); He X(何旭); Zhang W(张伟); Luo HT(骆海涛); Zhou WJ(周维佳)
作者部门空间自动化技术研究室
发表期刊Journal of Robotics
ISSN1687-9600
2015
卷号2015页码:1-11
收录类别EI
EI收录号20152300908294
产权排序1
摘要Space manipulators are mainly used in the spatial loading task. According to problems of the spatial loading diversity, the testing loading installing position, and the utilization ratio of a test platform, the space manipulator is asked to evaluate the position and attitude of itself. This paper proposes the Point Omnidirectional Coefficient (POC) with unit attitude sphere/circle to describe attitude of the end-effector, which evaluates any points in the attainable space of the manipulators, in combination with the manipulation's position message, and get relationships between its position and attitude of all points in the attainable space. It represents the mapping between sphere surface and plane for mission attitude constraints and the method for calculating volume of points space including attainable space, Omnidirectional space, and mission attitude space. Furthermore, the Manipulator Omnidirectional Coefficient based on mission or not is proposed for evaluating manipulator performance. Through analysis and simulation about 3D and 2D manipulators, the results show that the above theoretical approach is feasible and the relationships about link lengths, joints angles, attainable space, and Manipulator Omnidirectional Coefficient are drawn for guiding design.
语种英语
文献类型期刊论文
条目标识符http://ir.sia.cn/handle/173321/16187
专题空间自动化技术研究室
通讯作者Leng YQ(冷雨泉)
作者单位1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Shenyang, China
2.University of Chinese, Academy of Science, Beijing, China
推荐引用方式
GB/T 7714
Leng YQ,Zhang Y,He X,et al. Omnidirectional analysis of spatial manipulator[J]. Journal of Robotics,2015,2015:1-11.
APA Leng YQ,Zhang Y,He X,Zhang W,Luo HT,&Zhou WJ.(2015).Omnidirectional analysis of spatial manipulator.Journal of Robotics,2015,1-11.
MLA Leng YQ,et al."Omnidirectional analysis of spatial manipulator".Journal of Robotics 2015(2015):1-11.
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