کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
9702420 | 1462562 | 2005 | 7 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
Kinematics of a Trinal-Branch Space Robotic Manipulator with Redundancy
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موضوعات مرتبط
مهندسی و علوم پایه
سایر رشته های مهندسی
مهندسی هوافضا
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چکیده انگلیسی
This paper presents a trinal branch space robotic manipulator with redundancy, due to hash application environments, such as in the station. One end- effector of the manipulator can be attached to the base, and other two be controlled to accomplish tasks. The manipulator permits operation of science payload, during periods when astronauts may not be present. In order to provide theoretic basis for kinematics optimization, dynamics optimization and fault-tolerant control, its inverse kinematics is analyzed by using screw theory, and its unified formulation is established. Base on closed form resolution of spherical wrist, a simplified inverse kinematics is proposed. Computer simulation results demonstrate the validity of the proposed inverse kinematics.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Chinese Journal of Aeronautics - Volume 18, Issue 4, November 2005, Pages 378-384
Journal: Chinese Journal of Aeronautics - Volume 18, Issue 4, November 2005, Pages 378-384
نویسندگان
Qing-xuan JIA, Ping YE, Han-xu SUN, Jing-zhou SONG,