传感器冗余下并联机器人直接运动学的各向同性解耦

Proceedings of 1995 IEEE International Conference on Robotics and Automation Pub Date : 1995-05-21 DOI:10.1109/ROBOT.1995.525494

L. Baron, J. Angeles

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引用次数: 10

摘要

利用冗余传感器，将一般并联机器人的直接运动学解耦，并简化为一个定向问题。解耦的精度取决于解耦矩阵的条件数。推导了该矩阵各向同性的条件，并用数值算例进行了说明。

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The isotropic decoupling of the direct kinematics of parallel manipulators under sensor redundancy

Using redundant sensors, the direct kinematics of general parallel manipulators is here decoupled and reduced to an orientation problem only. The accuracy of the decoupling depends on the condition number of a decoupling matrix. The conditions under which this matrix is isotropic are derived and illustrated with a numerical example.

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Proceedings of 1995 IEEE International Conference on Robotics and Automation

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