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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Zhao Jianwen Sun Lining Du Zhijiang Zhang Bo |
| Copyright Year | 2006 |
| Description | Author affiliation: Robotics Inst., Harbin Inst. of Technol. (Zhao Jianwen; Sun Lining; Du Zhijiang; Zhang Bo) |
| Abstract | A redundant robot configured with a parallel base and a series manipulator is proposed in this paper. The position and orientation of end manipulator are considered as the result of the joints' ordinal motion according to the equivalence principle, so the close analytic solution for self-motion of this redundant robot is obtained via geometrical method. The Jacobian matrices of the parallel base and the whole robot system are solved respectively. Based on this, the solution for self-motion in two classes of singular configuration is also obtained. Finally a self-motion simulation of the redundant robot is performed via software MATLAB and ADAMS to validate the algorithm |
| Starting Page | 1 |
| Ending Page | 6 |
| File Size | 5397190 |
| Page Count | 6 |
| File Format | |
| ISBN | 1424403413 |
| DOI | 10.1109/ICARCV.2006.345173 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2006-12-05 |
| Publisher Place | Singapore |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Parallel robots Manipulators Orbital robotics Kinematics Jacobian matrices Equations Fasteners Shoulder Wrist Sun Self-motion Kinematics analysis Redundant robot Planar parallel manipulator |
| Content Type | Text |
| Resource Type | Article |
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