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Implementation and Kinematic Control of a Hyper-redundant Mobile Manipulator System 被引量：2

一个超冗余度移动操作臂机器人系统的实现与运动控制(英文)
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摘要 Redundant or hyper-redundant mobile manipulator can give lots of assistance to astronauts in space station. The design and implementation of a hyper-redundant mobile manipulator system are described, which is composed of an 8 DOF module robot and a 1 DOF motorized rail. Inverse kinematic resolution of the system is discussed and one simplified control method based on joint limit avoidance and configuration optimization is proposed. Simulation and experimental results are presented. Redundant or hyper-redundant mobile manipulator can give lots of assistance to astronauts in space station. The design and implementation of a hyper-redundant mobile manipulator system are described, which is composed of an 8 DOF module robot and a 1 DOF motorized rail. Inverse kinematic resolution of the system is discussed and one simplified control method based on joint limit avoidance and configuration optimization is proposed. Simulation and experimental results are presented.
作者 贾庆轩 战强 孙汉旭 洪磊
机构地区 Robotics Institute School of Automation
出处 《Chinese Journal of Aeronautics》 SCIE EI CAS CSCD 2006年第1期83-88,共6页 中国航空学报（英文版）
基金 "863"projectofChina(2002AA742030)
关键词 mobile manipulator hyper-redundant manipulator inverse kinematics mobile manipulator hyper-redundant manipulator inverse kinematics
分类号 TP242 [自动化与计算机技术—检测技术与自动化装置]
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参考文献8

  • 1Sun Z Q.The development conditions of space robots in foreign countries and future planning of our country [A].Proceedings of Symposium on Space Robots and Teleoperation Technology[C].Beijing,1999.1-20.
  • 2Beland S,Dupuis E,Tremblay I.Space robotics in Canada:from dexterous operations on ISS to planetary exploration robotics[ A].Proceedings of 51st International Astronautical Congress[C].Brazil,2000.1-9.
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Chinese Journal of Aeronautics
2006年 第1期

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