中国科学院沈阳自动化研究所机构知识库
Advanced  
SIA OpenIR  > 空间自动化技术研究室  > 会议论文
题名: Attitude analysis of reachable space for spatial manipulator
作者: Leng YQ(冷雨泉); Zhang Y(张阳); Zhang W(张伟); He X(何旭); Zhou WJ(周维佳)
作者部门: 空间自动化技术研究室
会议名称: 27th Chinese Control and Decision Conference, CCDC 2015
会议日期: May 23-25, 2015
会议地点: Qingdao, China
会议录: Proceedings of the 2015 27th Chinese Control and Decision Conference, CCDC 2015
会议录出版者: IEEE
会议录出版地: Piscataway, NJ, USA
出版日期: 2015
页码: 4927-4931
收录类别: EI ; CPCI(ISTP)
ISBN号: 978-1-4799-7016-2
摘要: Space manipulators are mainly used in the spatial loading task. According with the problems of the spatial loading diversity, the testing loading installing position and the utilization ratio of the test platform, the space manipulator is asked to evaluate the position and attitude of itself. This paper first put forward the concept of the Omni-directional Coefficient, which can evaluate any point in the attainable domain of the manipulators, with the combination of the manipulation's position message, and got the relationship between its position and attitude of all points in the attainable domain. Second, it represented the attitude of the end-effectors with attitude sphere. At last, proposed the method to evaluate the Omni-directional characters of the whole manipulator. This paper analyzed space manipulator experiment data analysis, using the method of numerical computation and graphic display. On the one hand, compared the Omni-directional Coefficient with the early quantitative representation used analytical method, on the other hand, vividly showed the Omni-directional Coefficient, Omni-directional space and the distribution of the Omni-directional in the attainable domain when the manipulator is the initial point. At last, we got the Omni-directional Coefficient of the whole manipulator by data analysis method.
语种: 英语
产权排序: 1
WOS记录号: WOS:000375232906062
Citation statistics:
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/17179
Appears in Collections:空间自动化技术研究室_会议论文

Files in This Item: Download All
File Name/ File Size Content Type Version Access License
Attitude analysis of reachable space for spatial manipulator.pdf(529KB)会议论文--开放获取View Download

Recommended Citation:
Leng YQ,Zhang Y,Zhang W,et al. Attitude analysis of reachable space for spatial manipulator[C]. 见:27th Chinese Control and Decision Conference, CCDC 2015. Qingdao, China. May 23-25, 2015.
Service
Recommend this item
Sava as my favorate item
Show this item's statistics
Export Endnote File
Google Scholar
Similar articles in Google Scholar
[Leng YQ(冷雨泉)]'s Articles
[Zhang Y(张阳)]'s Articles
[Zhang W(张伟)]'s Articles
CSDL cross search
Similar articles in CSDL Cross Search
[Leng YQ(冷雨泉)]‘s Articles
[Zhang Y(张阳)]‘s Articles
[Zhang W(张伟)]‘s Articles
Related Copyright Policies
Null
Social Bookmarking
Add to CiteULike Add to Connotea Add to Del.icio.us Add to Digg Add to Reddit
文件名: Attitude analysis of reachable space for spatial manipulator.pdf
格式: Adobe PDF
所有评论 (0)
暂无评论
 
评注功能仅针对注册用户开放,请您登录
您对该条目有什么异议,请填写以下表单,管理员会尽快联系您。
内 容:
Email:  *
单位:
验证码:   刷新
您在IR的使用过程中有什么好的想法或者建议可以反馈给我们。
标 题:
 *
内 容:
Email:  *
验证码:   刷新

Items in IR are protected by copyright, with all rights reserved, unless otherwise indicated.

 

 

Valid XHTML 1.0!
Copyright © 2007-2016  中国科学院沈阳自动化研究所 - Feedback
Powered by CSpace