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Research on the kinematics and dynamics of a 7-DOF arm of humanoid robot
Zhao TJ(赵铁军); Yuan, Jing; Zhao MY(赵明扬); Tan DL(谈大龙)
作者部门机器人学研究室
会议名称IEEE International Conference on Robotics and Biomimetics (ROBIO 2006)
会议日期December 17-20, 2006
会议地点Kunming, China
会议主办者IEEE, IEEE Robot & Automat Soc, Robot Soc Japan, Japanese Soc Mech Engineers, Peking Univ, Beijing Inst Technol, Yunnan Univ
会议录名称2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-3
出版者IEEE
出版地NEW YORK
2006
页码1553-1558
收录类别EI ; CPCI(ISTP)
EI收录号20082811359856
WOS记录号WOS:000245907302075
产权排序2
ISBN号978-1-4244-0570-1
关键词Kinematics Dynamics Humanoid Robot Arm
摘要We have developed a highly flexible anthropomorphic 7-DOF robotic arm for a mobile humanoid robot. The tdnematics of the arm such as workspace, singularity, the number and physical nature of self-motion are presented. The concepts and methodology of the inverse kinematics base on the self -motion of the arm are described. By this method the task and motion scheduling can simply be done. The formulations of dynamics and the dynamic effect due to the arm'i dead weight were analyzed.
语种英语
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被引频次:2[WOS]   [WOS记录]     [WOS相关记录]
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/19861
专题机器人学研究室
通讯作者Zhao TJ(赵铁军)
作者单位1.Shenyang University of Technolog, Shenyang 110023, China
2.Shenyang Institute of Automation, Chinese Academy of Science, Shenyang 110016, China
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GB/T 7714
Zhao TJ,Yuan, Jing,Zhao MY,et al. Research on the kinematics and dynamics of a 7-DOF arm of humanoid robot[C]//IEEE, IEEE Robot & Automat Soc, Robot Soc Japan, Japanese Soc Mech Engineers, Peking Univ, Beijing Inst Technol, Yunnan Univ. NEW YORK:IEEE,2006:1553-1558.
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