Redundancy resolution of a Cartesian space operated heavy industrial manipulator
Redundancy resolution of a Cartesian space operated heavy industrial manipulator
复制标题
笛卡尔空间操作重工业机械手的冗余解决
DOI：
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发表时间：
1998
期刊：
影响因子：
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通讯作者：
A. Codourey
中科院分区：
文献类型：
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作者：
M. Honegger;A. Codourey
在隧道和矿山施工工作中，使用重型和大型机械手在墙壁上喷射液体混凝土。这些机械手通常用简单的单元手动操作，允许独立控制所有执行机构。针对冗余重型机械臂Robojet(R)，采用了一种新型的产学研合作控制系统，该系统通过计算逆运动学模型并自动控制所有作动器来支持操作者。提出了用零空间法求解机器人喷气机冗余逆运动学的方法，并在控制系统中实现了该方法。
In tunneling and mining construction work, heavy and large manipulators are used to spray liquid concrete on the walls. These manipulators are usually operated manually with simple units allowing control of all actuators independently. In cooperation between industry and university, a novel control system has been developed for the redundant heavy manipulator Robojet(R) that supports the operator by calculating the inverse kinematic model and controlling all actuators automatically. The paper presents the solution of the redundant inverse kinematics of the Robojet using the null-space method and its implementation in a control system.