摘要
提出了一种针对具有10个被动平面转动关节的微型化柔索驱动机械臂运动姿态的实时估计方法。通过建立该微型机械臂的非刚体静力模型,将10个平面自由度变量转化为1个位移变量和1个张力变量。用一个线型差动变压位移传感器(linear variable differential transformer,LVDT)和一个微型载荷传感器(load cell)测量该微型机械臂终端执行器的平面运动姿态。通过对测量结果的精度和误差进行分析,指出了该测量方法的优势与不足,并与其他几种可能的测量方法进行了比较和讨论。
A model based estimation approach is proposed to determine the realtime kinematic pose of a miniature cable driven robotic arm with ten passive planar rotation joints. A nonrigid body static equilibrium model is con structed, and the ten planar degree of freedom（DOF） variables are transformed to one translational variable and one tensile force variable. An linear variable differential transformer（LVDT） sensor and a load cell are used in this ro botic arm to measure the planar kinematic pose of its end actuator. The accuracy and error of the measurement re suits are analyzed ; the advantage and insufficiency of this measurement approach are stated ; and the proposed meth od is compared with other potential measurement schemes.
出处
《仪器仪表学报》
EI
CAS
CSCD
北大核心
2012年第8期1806-1812,共7页
Chinese Journal of Scientific Instrument
基金
国家自然科学基金(61102141)
2010年博士点基金(20100185120005)资助项目
