Velocity direction manipulability measures of redundant robot 冗余度机器人速度方向可操作性研究
On the study of manipulability flexibility of a redundant robot 柔性冗余度机器人的可操作性桑度的研究
The dynamic manipulability ellipsoid is established and the dynamic manipulability index is introduced 文中引进了步行机的动力学操作椭球和动力学操作性的性能指标。
The dynamic manipulability ellipsoid is established and the dynamic manipulability index is introduced 文中引进了步行机的动力学操作椭球和动力学操作性的性能指标。
A generalized manipulability, which extended the conventional definition of manipulability for manipulators, was defined for mobile manipulators 摘要将机械手可操作度的概念推广到移动机械手,定义了广义可操作度。
A generalized manipulability, which extended the conventional definition of manipulability for manipulators, was defined for mobile manipulators 摘要将机械手可操作度的概念推广到移动机械手,定义了广义可操作度。
To choose the manipulability as an index for evalucting the flexibility and with which the dimansional synthesis resucts base on workspace are further analyzed and verified 选择可操作度作为灵巧度评价指标,结合该指标对基于工作空间的尺度综合结果作进一步分析和验证。
On the basis of probing into the theory about kinematical optimization for redundant manipulators, the optimized index---- reduced manipulability is determined according to the kinematical property of redundant manipulators for locked joint failures 在对冗余度机器人运动学优化基础理论探讨的基础上,结合发生锁定故障时冗余度机器人的运动特性,确定了冗余度机器人的优化性能指标??退化可操作度。
Secondly, the new physical intuition into reduced manipulability is given by means of decomposing reduced manipulability into arm length index and rotation angle index . the center index that expresses the positional relation between fault tolerant workspace and end-effector's motion is proposed 其次,通过将退化可操作度分解为臂长和转角两种指标,赋予退化可操作度新的物理解释,进而提出反映容错空间和末端轨迹相对位置的中心度指标。
Secondly, the new physical intuition into reduced manipulability is given by means of decomposing reduced manipulability into arm length index and rotation angle index . the center index that expresses the positional relation between fault tolerant workspace and end-effector's motion is proposed 其次,通过将退化可操作度分解为臂长和转角两种指标,赋予退化可操作度新的物理解释,进而提出反映容错空间和末端轨迹相对位置的中心度指标。