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《Journal of Beijing University of Posts and Telecommunications》 2004-04
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A New Method for Improving Flexibility of Redundant Robot

ZHANG Qiu-hao, SUN Han-xu,WEI Shi-min (Automation School, Beijing University of Posts and Telecommunications, Beijing 100876, China)  
The problem of improving flexibility of redundant robot is studied. A method for improving flexibility of redundant robot in which two vectors approach each other is proposed. Based on mean theorem, the method combines Jacobian's eigenvalue with its eigenvector to form a null space vector of redundant robot. The flexibility of robot is improved by the self-motion of robot. Finally, a simulation example for a planar 3R redundant robot is presented to compare convergence and stability with those of other method.
【Fund】: 国家"863计划"项目(2002AA742030)
【CateGory Index】: TP24
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【References】
Chinese Journal Full-text Database 2 Hits
1 YU Zhen-zhong,YAN Ji-hong,ZHAO Jie,GAO Yong-sheng,CHEN Zhi-feng,ZHU Yan-he(State Key Laboratory of Robotics and System,Harbin Institute of Technology,Harbin 150080,China);A Rapid Inverse Kinematics Solution for Super-Redundant Mobile Manipulator[J];Journal of Beijing University of Posts and Telecommunications;2009-05
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【Citations】
Chinese Journal Full-text Database 1 Hits
1 SUN Han xu 1, JI Luo shuan 2, XU Yang sheng 3 (1. Automation School, Beijing University of Posts and Telecommuinications, Beijing 100876, China; 2. Lang Fang Missilery Insititue of Liberation Army Land Forces of China, Lang Fang 102800, China;;Study of Balance Problem for a Three-Arm Space Robot during Its Manipulation[J];Journal of Beijing University of Posts and Telecommunications;2002-01
【Co-citations】
Chinese Journal Full-text Database 3 Hits
1 MA Guo-wei,SUN Han-xu,JIA Qing-xuan,YE Ping,KUAI Yong-tao(School of Automation, Beijing University of Posts and Telecommunications, Beijing 100876, China);Design and Realization of Control System of Brushless DC Motor Based on DSP[J];Journal of Beijing University of Posts and Telecommunications;2005-03
2 WU Ming-yang, MENG Qing-xin, WANG Mo-nan (Mechanics & Electronics Engineering School, Harbin Engineer University,Harbin 150001,China; Mechanical & Power Engineering College, Harbin University of Science and Technology, Harbin 150080, China);Research on motor - driving walking - leg for bionics crab - liked robot[J];Electric Machines and Control;2005-04
3 ZHANG Qiu hao, SUN Han xu (Beijing University of Posts and Telecommunications, Beijing 100876, China);Coordinated Manipulation and Joint Torque Optimization of Three Branches Robot[J];Robot;2004-06
【Co-references】
Chinese Journal Full-text Database 10 Hits
1 SUN Xiao-jun,JIAO Jian-min,HE Jun-hong(Department of Mathematics,Baoji College of Arts and Science,Baoji 721013,China);A genetic accelerated trust region algorithm for solving optimization problems[J];Journal of Anhui University(Natural Sciences);2008-03
2 Liu DaWang Tianmiao(School of Mechanical Engineering and Automation,Beijing University of Aeronautics and Astronautics,Beijing 100083,China);Algorithm combined analytical and numerical solutions for robot inverse kinematics[J];Journal of Beijing University of Aeronautics and Astronautics;2007-06
3 JI Ting,SUN Han-xu(Automation School, Beijing University of Posts and Telecommunications, Beijing 100876, China);A Simplified Approach to Inverse Kinematics Solution for a Modular Robot[J];Journal of Beijing University of Posts and Telecommunications;2004-S2
4 JIA Qing-xuan,CHU Ming,SUN Han-xu,HONG Lei(School of Automation,Beijing University of Posts and Telecommunications,Beijing 100876,China);Research on the Optimal Algorithm for Trajectory Planning of a 9-DOF Hyper-Redundant Robot[J];Journal of Beijing University of Posts and Telecommunications;2008-02
5 ZHANG Zhi,ZHU Qi-dan,LIUHai,ZENG Peng(College of Automation,Harbin Engineering University,Harbin 150001,China);Inverse kinematic solution for the manipulator used for nuclear reactor repairing[J];Journal of Harbin Engineering University;2007-01
6 ZHOU Pu-cheng, HONG Bing-rong, YANG Jing-hui (School of Computer Science and Technology, Harbin Institute of Technology, Harbin 150001, China);Chaos genetic algorithm based path planning method for mobile robot[J];Journal of Harbin Institute of Technology;2004-07
7 Yu Zhenzhong Yan Jihong Zhao Jie Chen Zhifeng(State Key Laboratory of Robotics and System,Harbin Institute of Technology,Harbin 150080,China);4-CH time delayed bilateral teleoperation using wave variables with prediction[J];Journal of Huazhong University of Science and Technology(Natural Science Edition);2010-05
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10 KUANG Fei,WANG Yao-nan,ZHANG Hui(Key Laboratory of Intelligent Automation Technology,Hunan University,Changsha Hunan 410082,China);Real time path planning of mobile robot in dynamic world based on improved artificial potential field[J];Computer Applications;2005-10
【Secondary References】
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1 REN Shu yan1,YANGYong gang2,Yang Li1,Li Jing1 1)Tianjin Keylaboratory of Information Sensing&Intelligent Control,TianJin University of Technology and Education,Tianjin,China 2) Aviation Engineering College,Civil Aviation University of China,Tianjin,China;Kinematic Analysis of Redundant Mobile Manipulators[A];[C];2010
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