ON FLEXIBLE LINK MANIPULATORS - MODELING AND ANALYSIS USING THE ALGEBRA OF ROTATIONS

被引：7
作者：
XI, F
FENTON, RG
机构：
[1] Department of Mechanical Engineering, University of Toronto, Toronto, Ontario
来源：
ROBOTICA | 1994年 / 12卷
关键词：
FLEXIBLE LINK; MANIPULATORS; ROTATIONS ALGEBRA; MODELING;
D O I：
10.1017/S0263574700017392
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
In this paper, a complete model of the elasto-kinematics is formulated in terms of a new kinematic notation, called the algebra of rotations. Based on this formulation, the elegant and concise expressions are derived for the displacement equation and especially the Jacobians governing the motion mapping between the manipulator tip and joint variables as well as link deflections. Introduction of the elasto-kinematics into the elasto-dynamics can directly take into consideration the nonlinear coupling between joint variables and link deflections, and thus improve the result of the elasto-dynamics.
引用
收藏
页码：371 / 381
页数：11
相关论文
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