| Numerical Study on the Repeatability of 3R Planar Manipulators under Pseudoinverse Control |
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| 引用本文： | 吴瑞珉,刘廷荣,陶建国.Numerical Study on the Repeatability of 3R Planar Manipulators under Pseudoinverse Control[J].哈尔滨工业大学学报(英文版),1995(1). |
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| 作者姓名： | 吴瑞珉 刘廷荣 陶建国 |
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| 作者单位： | Dept. of Mechanical Engineering. Harbin Institute of TechnoloLy，Harbin，150001，China |
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| 摘 要： | ＮｕｍｅｒｉｃａｌＳｔｕｄｙｏｎｔｈｅＲｅｐｅａｔａｂｉｌｉｔｙｏｆ３ＲＰｌａｎａｒＭａｎｉｐｕｌａｔｏｒｓｕｎｄｅｒＰｓｅｕｄｏｉｎｖｅｒｓｅＣｏｎｔｒｏｌ￥（吴瑞珉）（刘廷荣）（陶建国）ＷＵＲｕｉｍｉｎＬＩＵＴｉｎｇｒｏｎｇＴＡＯＪｉａｎｇｕｏ（...
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Numerical Study on the Repeatability of 3R Planar Manipulators under Pseudoinverse Control |
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| WU Ruimin LIU Tingrong TAO Jianguo.Numerical Study on the Repeatability of 3R Planar Manipulators under Pseudoinverse Control[J].Journal of Harbin Institute of Technology,1995(1). |
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| Authors: | WU Ruimin LIU Tingrong TAO Jianguo |
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| Abstract: | The repeatability and the drift properties for kinematically redundant manipulators under pseudoinverse control by simulation from th0e view of workspace is investigated. The conservative point and the conservative region are proposed, and the workspace of manipulator is divded into conservative region and non-conservative region. The repeatatility can be obtained if the closed path of the end effector is in the conservative region. The repeatability and properties of the drift for three DOF planar manipulator are studied under conditions of crank existence of four-bar linkage in mechanism,and some results are obtained by simnulaticn. |
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| Keywords: | ss: Redundancy manipulator repeatablity pseudoinverse |
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