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题名: A rotor-separated dynamic modeling method for flexible manipulators based on FS-SEA
作者: 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: Proceedings of the 2015 IEEE International Conference on Robotics and Biomimetics
会议录出版者: IEEE
会议录出版地: Piscataway, NJ, USA
出版日期: 2015
页码: 668-673
收录类别: EI ; CPCI(ISTP)
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
产权排序: 1
WOS记录号: WOS:000380476200112
Citation statistics:
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/18614
Appears in Collections:机器人学研究室_会议论文

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Recommended Citation:
Chen P,Li HY. A rotor-separated dynamic modeling method for flexible manipulators based on FS-SEA[C]. 见:2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015. Zhuhai, China. December 6-9, 2015.
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文件名: A rotor-separated dynamic modeling method for flexible manipulators based on FS-SEA.pdf
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