九自由度超冗余度机械臂的设计与构造

NAECON 2014 - IEEE National Aerospace and Electronics Conference Pub Date : 2014-06-24 DOI:10.1109/NAECON.2014.7045828

Xingsheng Xu, Hariharan Ananthanarayanan, R. Ordóñez

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引用次数: 5

摘要

基于九自由度超冗余度机械臂的运动学模型，构建了应用机器人平台。运动学算法的有效性影响着运动控制和路径跟踪的精度和稳定性。对不同路径的跟踪和误差分析结果表明，所设计的九自由度机械臂工作正常，满足实验设计要求。

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Design and construction of 9-DOF hyper-redundant robotic arm

In this paper, an application robotic platform has been constructed based on the kinematic model of a 9-DOF hyper-redundant manipulator. The efficacy of our kinematic algorithm affects the accuracy and stability of both motion control and path tracking. The result of tracking different paths and error analysis shows that the 9-DOF manipulator works functionally and satisfies all the requirement of experimental design.

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NAECON 2014 - IEEE National Aerospace and Electronics Conference

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