摘要
冗余度柔性机器人协调操作系统集合了冗余度机器人、柔性机器人和协调操作机器人的优点 ,具有广泛的应用前景。本文研究了冗余度柔性机器人协调操作动力学 ,给出了两 4R冗余度柔性机器人协调操作一刚性负载的动力学模型 ,并进行了仿真分析。仿真结果表明 ,该模型是可行的。
Redundant flexible cooperative robots have the advantages of redundant robot, flexible robot and cooperative robot and possess vast application prospect. This paper studied the dynamics of redundant flexible cooperative robots grasping a rigid payload. The dynamic model of two 4R redundant flexible robots grasping a rigid payload is given at first. The simulation of this system is given and the results show that the model is feasible.
出处
《机械科学与技术》
CSCD
北大核心
2004年第2期178-181,共4页
Mechanical Science and Technology for Aerospace Engineering
基金
国家自然科学基金项目 (5 0 3 75 0 0 3 )
北京市自然科学基金项目 (3 0 12 0 0 3 )资助
