Dynamic simulation of a kinematically redundant manipulator system
作者:
Charles A. Klein,
Antonio I. Chirco,
期刊:
Journal of Robotic Systems
(WILEY Available online 1987)
卷期:
Volume 4,
issue 1
页码: 5-23
ISSN:0741-2223
年代: 1987
DOI:10.1002/rob.4620040103
出版商: Wiley Subscription Services, Inc., A Wiley Company
数据来源: WILEY
摘要:
AbstractA number of methods have been proposed for the control of kinematically redundant manipulators, that is, those with more than the minimum number of degrees of freedom. This article uses a dynamic simulation to test whether proposed schemes should, in fact, work well when the dynamics of the actual system are considered. In order to perform a realistic simulation, a nine‐degree‐of‐freedom arm has been designed using commercially available motors. The simulation shows the effects that specifying a secondary goal has on the satisfaction of the primary goal. Also shown is the dependence of servo performance on modeling the
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