Incorporation of an External Axis in Robot Manipulators: Redundancy Analysis

被引：0
作者：
Aguerre, Juan Francisco [1 ]
Cartelli, Carlos [1 ]
Anigstein, Mauricio [1 ]
机构：
[1] Univ Buenos Aires, Lab Robot, Fac Ingn, Buenos Aires, DF, Argentina
来源：
2016 IEEE BIENNIAL CONGRESS OF ARGENTINA (ARGENCON) | 2016年
关键词：
D O I：
暂无
中图分类号：
TP301 [理论、方法];
学科分类号：
081202 ;
摘要：
This paper proposes a mathematical model that, based on the model of a manipulator, is extended to represent the incorporation of an additional external rotating axis. This incorporation leads to a redundant system (robot+external axis) given that it has more degrees of freedom than those needed to perform certain tasks. In the new system, and using an expanded Jacobian, three typical algorithms for redundant robots are tested and the results are presented. These results are useful to benchmark the performance of each algorithm.
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页数：6
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