| 一种新型移动机器人运动学坐标系快速构建方法研究 |
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| 引用本文： | 宋孟军,张明路,张建华.一种新型移动机器人运动学坐标系快速构建方法研究[J].中国机械工程,2011,22(17). |
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| 作者姓名： | 宋孟军 张明路 张建华 |
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| 作者单位： | 河北工业大学,天津,300130 |
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| 基金项目： | 国家自然科学基金资助项目(61075097) |
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| 摘 要： | 提出冗余坐标系的概念,对冗余坐标系的构建、使用及应用注意事项进行了分析,并对所建立的冗余坐标系的求解结果进行了仿真验证;进一步对运动学坐标系构建方法进行研究,沿Y轴进行了运动学建模和运动学求解,并对沿Y轴构建运动学模型及模型求解方法的正确性进行了计算证明。研究表明,构建冗余坐标系及沿Y轴构建运动学模型均可以提高串联机器人运动学分析的效率。
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| 关 键 词： | 移动机器人 运动学 D-H法则 坐标变换 仿真 |
Research on Rapid Construction Method of Kinematics Coordinate System from a New Kind of Mobile Robot |
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| Song Mengjun Zhang Minglu Zhang Jianhua Hebei University of Technology,Tianjin.Research on Rapid Construction Method of Kinematics Coordinate System from a New Kind of Mobile Robot[J].China Mechanical Engineering,2011,22(17). |
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| Authors: | Song Mengjun Zhang Minglu Zhang Jianhua Hebei University of Technology Tianjin |
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| Affiliation: | Song Mengjun Zhang Minglu Zhang Jianhua Hebei University of Technology,Tianjin,300130 |
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| Abstract: | A redundant coordinate system was proposed firstly,and the details about how to construct the redundant coordinate system and how to use the redundant coordinate system were listed effectively,and the results of the analysis process were simulated.The simulated results suggest that the method used above is efficient and correct.To study how to solve the serial robot kinematics quickly,the kinematics coordinate system was transformed by Y axis,and the computed results show that transforming the kinematics co... |
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| Keywords: | mobile robot kinematics D-H rule coordinate transformation simulation |
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