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A rotor-separated dynamic modeling method for flexible manipulators based on FS-SEA
Chen P(陈鹏); Li HY(李洪谊)
作者部门机器人学研究室
会议名称2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015
会议日期December 6-9, 2015
会议地点Zhuhai, China
会议录名称Proceedings of the 2015 IEEE International Conference on Robotics and Biomimetics
出版者IEEE
出版地Piscataway, NJ, USA
2015
页码668-673
收录类别EI ; CPCI(ISTP)
EI收录号20161802327743
WOS记录号WOS:000380476200112
产权排序1
ISBN号978-1-4673-9674-5
摘要A rotor-separated dynamic modelling method is proposed based on the dynamics of spatial operator algebra in this paper, for n-DoF serial flexible-joint manipulators with harmonic reducers and with FS-SEAs (force sourced series elastic actuators) as flexible mechanisms. The completed dynamic model comprises the flexible joint dynamics and the whole arm dynamics. Inverse dynamics and forward dynamics of the two parts are researched respectively, through which the complete rotor-separated dynamic model is finally derived. The modelling method proposed in this paper is verified by simulations. And the simulation results demonstrate the significant advantages of the proposed method. ©
语种英语
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文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/18614
专题机器人学研究室
作者单位1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China
2.University of Chinese Academy of Sciences, Beijing, 100049, China
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Chen P,Li HY. A rotor-separated dynamic modeling method for flexible manipulators based on FS-SEA[C]. Piscataway, NJ, USA:IEEE,2015:668-673.
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