{"title":"创新运动学和控制，提高机器人空间分辨率","authors":"J. Brethé","doi":"10.1109/IROS.2010.5650352","DOIUrl":null,"url":null,"abstract":"The paper presents innovative kinematics and control of a planar redundant robot designed to improve spatial resolution by a factor 5. This result is obtained in a restricted area of the workspace using position information from external sensors. This innovation results from a clearer understanding of the factors that influence the robot micrometric behavior: axes control resolution generates a set of attainable points in the robot workspace and different spatial resolution patterns appear when introducing redundancy depending on the final axes chosen to correct the position.","PeriodicalId":420658,"journal":{"name":"2010 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"48 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2010-12-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"6","resultStr":"{\"title\":\"Innovative kinematics and control to improve robot spatial resolution\",\"authors\":\"J. Brethé\",\"doi\":\"10.1109/IROS.2010.5650352\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"The paper presents innovative kinematics and control of a planar redundant robot designed to improve spatial resolution by a factor 5. This result is obtained in a restricted area of the workspace using position information from external sensors. This innovation results from a clearer understanding of the factors that influence the robot micrometric behavior: axes control resolution generates a set of attainable points in the robot workspace and different spatial resolution patterns appear when introducing redundancy depending on the final axes chosen to correct the position.\",\"PeriodicalId\":420658,\"journal\":{\"name\":\"2010 IEEE/RSJ International Conference on Intelligent Robots and Systems\",\"volume\":\"48 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2010-12-03\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"6\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2010 IEEE/RSJ International Conference on Intelligent Robots and Systems\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/IROS.2010.5650352\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2010 IEEE/RSJ International Conference on Intelligent Robots and Systems","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/IROS.2010.5650352","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Innovative kinematics and control to improve robot spatial resolution
The paper presents innovative kinematics and control of a planar redundant robot designed to improve spatial resolution by a factor 5. This result is obtained in a restricted area of the workspace using position information from external sensors. This innovation results from a clearer understanding of the factors that influence the robot micrometric behavior: axes control resolution generates a set of attainable points in the robot workspace and different spatial resolution patterns appear when introducing redundancy depending on the final axes chosen to correct the position.
求助内容：
应助结果提醒方式：
京公网安备 11010802042870号
