| 双臂机器人两手臂间的协调运动 |
| |
| 引用本文： | 杨成梧 谢小庆. 双臂机器人两手臂间的协调运动[J]. 机器人, 1990, 12(4): 56-59,64 |
| |
| 作者姓名： | 杨成梧 谢小庆 |
| |
| 作者单位： | 华东工学院 南京(杨成梧，谢小庆)，华东工学院 南京(史国军) |
| |
| 摘 要： | 本文研究了双臂机器人的运动学协调问题.双臂机器人在工作过程中,两操作手的运动必须是相互配合的、协调的.本文结合其结构与工作特点.就两手同时抓持一物体运动时,由主动手的运动状态.推导出了从动手在其自身坐标系中的运动状态.
|
| 关 键 词： | 机器人 协调运动 运动学 手臂 |
COORDINATED ARM MOTIONS OF A TWO--ARM ROBOT |
| |
| YANG Chengwu,XIE Xiaoqing,SHI Guo jun East China Institute of Technology,Shanghai. COORDINATED ARM MOTIONS OF A TWO--ARM ROBOT[J]. Robot, 1990, 12(4): 56-59,64 |
| |
| Authors: | YANG Chengwu XIE Xiaoqing SHI Guo jun East China Institute of Technology Shanghai |
| |
| Abstract: | This paper investigates the kinematic coordinated problems of two-arm robots. When two manipulatorsmove in a coordinated way, their movements are not independent. Based on the structure and working character oftwo-arm robots, the paper discusses the problem of one object to be held by two manipulators. We have derivedout the state of motion of the slave arm in the coordinates system of itself from that of the main arm. |
| |
| Keywords: | manipulator two-arm robots coordinated motions |
| 本文献已被 CNKI 维普 等数据库收录！ |
