Mobility and kinematic analysis of general cooperating robot systems
Mobility and kinematic analysis of general cooperating robot systems
复制标题
通用协作机器人系统的移动性和运动学分析
DOI：
10.1109/robot.1992.220303
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发表时间：
1992
期刊：
影响因子：
--
通讯作者：
C. Melchiorri
中科院分区：
文献类型：
--
作者：
A. Bicchi;C. Melchiorri
研究了多机械臂操纵同一物体运动的协调问题。为了为研究诸如普通工业臂、多指手和有腿的车辆等协作系统提供一个总体框架，该分析不依赖于每个协作臂的完全可动性假设，而这在相关文献中很常见。本工作的目的是提供一种系统的方法来表征一般合作系统的机动性和微分运动学。所提出的分析和算法提供了对此类系统的输入（联合）-输出（任务）关系结构的洞察
The coordinator of the movements of multiple robot arms manipulating a common object is considered. In order to provide a general framework for the study of such cooperating systems as common industrial arms, multifingered hands, and legged vehicles, the analysis does not rely on the assumption of full mobility for each cooperating arm, which is otherwise common in related literature. The aim of the present work is to provide a systematic method to characterize the mobility and differential kinematics of general cooperating systems. The proposed analysis and algorithms provide an insight into the structure of the input (joint)-output (task) relationship of such systems.<<ETX>>