| 移动操作臂研究现状和发展方向 |
| |
| 引用本文： | 刘荣海,袁晖,杨迎春,常勇.移动操作臂研究现状和发展方向[J].工具技术,2017,51(5):3-8. |
| |
| 作者姓名： | 刘荣海 袁晖 杨迎春 常勇 |
| |
| 作者单位： | 1. 云南电网有限责任公司;2. 中国科学院沈阳自动化研究所;中国科学院大学;东北大学;3. 中国科学院沈阳自动化研究所 |
| |
| 摘 要： | 阐述了移动操作臂的研究现状和关键技术。移动操作臂在传统轻量高自由度机械臂的基础上结合自主移动平台,极大地扩展了灵活工作空间,提高了工作柔性,更适应复杂的工作环境和工作要求。通过分析几种典型移动操作臂的结构设计和功能指标,探讨了移动操作臂的本体结构设计、运动过程控制、路径规划、移动定位导航以及多移动操作臂协作等关键技术,展望了移动操作臂的发展趋势和应用前景。
|
| 关 键 词： | 移动操作臂 运动控制定位导航路径规划 移动操作臂协作 |
Research Status and Development Trend of Mobile Manipulators |
| |
| Liu Ronghai,Yuan Hui,Yang Yingchun,Chang Yong.Research Status and Development Trend of Mobile Manipulators[J].Tool Engineering(The Magazine for Cutting & Measuring Engineering),2017,51(5):3-8. |
| |
| Authors: | Liu Ronghai Yuan Hui Yang Yingchun Chang Yong |
| |
| Abstract: | This paper presents the research status and key technology of mobile manipulators around the world.Mobile manipulators are builted by mobile platforms and lightweight manipulators with high DOF.They have greater and more flexible working space and compliancewhich make them better in more complex work environment.In this paper,several typical mobile manipulators are analyzed about their structure design and performance.The key technologies of structure design of mobile manipulators,motion control,localization and navigation,path planning and multiple mobile manipulators coordinate are discussed and developmenting trend and applications are described in the end. |
| |
| Keywords: | mobile manipulators motion control localization and navigation path planning multiple mobile manipulators coordinate |
| 本文献已被 CNKI 万方数据 等数据库收录！ |
|
