| 载体位姿不受控的空间机械臂非完整特性研究 |
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| 引用本文： | 付宜利,郑中伟,张福海,王树国.载体位姿不受控的空间机械臂非完整特性研究[J].机械设计与制造,2010(4). |
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| 作者姓名： | 付宜利 郑中伟 张福海 王树国 |
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| 作者单位： | 哈尔滨工业大学,机器人技术与系统国家重点实验室,哈尔滨,150001 |
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| 基金项目： | 长江学者和创新团队发展计划资助 |
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| 摘 要： | 载体位姿不受控的空间机械臂系统,其载体和机械臂之间存在角动量守恒方程约束。由于该约束是非完整约束,所以普通的固定基座机器人运动学理论不能直接用来解决这类空间机械臂系统的运动学问题,基于这类非完整性约束,推出载体位姿不受控空间机械臂的运动学方程,在速度层次上分析这类载体位姿不受控的空间机械臂的运动学问题,并进行由于非完整特性引起载体位姿干扰与奇异问题的仿真研究。
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| 关 键 词： | 载体位姿不受控 运动学 非完整 奇异性 |
Research on nonholonomic chatacter for space manipulator without controlling the pose of the base |
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| FU Yi-li,ZHENG Zhong-wei,ZHANG Fu-hai,WANG Shu-guo.Research on nonholonomic chatacter for space manipulator without controlling the pose of the base[J].Machinery Design & Manufacture,2010(4). |
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| Authors: | FU Yi-li ZHENG Zhong-wei ZHANG Fu-hai WANG Shu-guo |
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| Affiliation: | The State Key Laboratory of Robotics and System/a>;Harbin Institute of Technology/a>;Harbin 150001/a>;China |
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| Abstract: | A motion coupling exists between the base and the manipulator because of the unfixed base,and the system exhibits some nonholonomic character. So the kinematics theory of a fixed base robot cannot solve the kinematics modeling for the manipulator with an unfixed base. It mainly focus on how to figure out the kinematics modeling at velocity layer based on the momentum conservation. The disturbance of the base and the singularity due to the nonholonomic character are analyzed by the simulation. |
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| Keywords: | Unfixed base Kinematics Complete Noholonomic Simulation |
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