Optimal Configurator of Wheeled Mobile Manipulator
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摘要: 為了揭示移動平臺和機械手間的本質關系,可將移動機械手加以簡化.采用等質量矩陣方法研究了輪式移動機械手的優化構形,得到了最大操作度方向與移動機械手構形間的關系.此關系為進一步研究移動機械手的協調方法打下了一定基礎.Abstract: In order to obtain the essence relation between mobile platform and manipulator, wheeled mobile manipulator's optimal configuration was discussed based on simplified mobile manipulator and equivalent mass matrix, then the relation between the direction of maximal manipulability and mobility manipulator's configurations was derived. The relation will be a base for further investigating mobile manipulator's coordination.
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