自动化技术 |
|
|
|
|
多节双八面体变几何桁架臂逆运动学解析算法 |
潜龙昊, 胡士强, 杨永胜 |
上海交通大学 航空航天学院,上海 200240 |
|
Analytical inverse kinematics algorithm for double-octahedral variable geometry truss manipulators |
QIAN Long hao, HU Shi qiang, YANG Yong sheng |
School of Aeronautics and Astronautics, Shanghai Jiao Tong University, Shanghai 200240, China |
引用本文:
潜龙昊, 胡士强, 杨永胜. 多节双八面体变几何桁架臂逆运动学解析算法[J]. 浙江大学学报(工学版), 10.3785/j.issn.1008-973X.2017.01.009.
QIAN Long hao, HU Shi qiang, YANG Yong sheng. Analytical inverse kinematics algorithm for double-octahedral variable geometry truss manipulators. JOURNAL OF ZHEJIANG UNIVERSITY (ENGINEERING SCIENCE), 10.3785/j.issn.1008-973X.2017.01.009.
|
[1] BATRAM ATILLA. Trajectory Tracking of a redundant hybrid manipulator using a switching control method [J]. World Academy of Science, Engineering and Technology, International Journal of Mechanical, Aerospace, Industrial, Mechatronic and Manufacturing Engineering, 2016, 10(6): 920929.
[2] 吴江,徐礼钜,雷勇.基于神经网络的冗余度二重八面体变几何桁架机器人运动学求解[J].四川大学学报:工程科学版,2000, 32(2):90103.
WU Jiang, XU Liju,LEI Yong. The kinematics ofredundant doubleoctahedron variable geometry truss manipulators based on neural network [J]. Journal of Sichuan University: Engineering Science Edition, 2000, 32(2): 90103.
[3] MACARENO L, AGIRREBEITIA J, ANGULO C, et al. FEM subsystem replacement techniques for strength problems in variable geometry trusses [J]. Finite Elements in Analysis and Design, 2008, 44(6/7): 346357.
[4] ATSUHIKO S, KOSUKE O, MORIO T, et al. Vibration reduction by natural frequency optimization formanipulation of a variable geometry truss [J]. Structural and Multidisciplinary Optimization, 2013, 48(5):939954.
[5] DE Z I O, AGUIRREBEITIA J, AVILES R, et al. A finite element approach to the inverse dynamics andvibrations of variable geometry trusses [J]. Finite Elements in Analysis and Design, 2011, 47(3): 220228.
[6] TONDU B. Closedform redundancy solving of serial chain robots with a weak generalized inverse approach [J]. Robotics and Autonomous Systems, 2015, 74(PB): 360370.
[7] DULEBA I, OPAKA M. A Comparison of jacobianbased methods of inverse kinematics for serial robotmanipulators [J]. International Journal of Applied Mathematics and Computer Science, 2013, 23(2): 373382.
[8] GIORELLI, M, RENDA F, CALISTI M, et al. Learning the inverse kinetics of an octopuslike manipulator in threedimensional space [J]. Bioinspiration and Biomimetics, 2015, 10(3): 113. |
|
Viewed |
|
|
|
Full text
|
|
|
|
|
Abstract
|
|
|
|
|
Cited |
|
|
|
|
|
Shared |
|
|
|
|
|
Discussed |
|
|
|
|