DocumentCode :
1864854
Title :
Configuration design and analysis of generalized inverse pose kinematic problem of 6-DOF wire-driven gantry crane robots
Author :
Lan Yu ; Zheng, Yaqing
Author_Institution :
College of Mechanical Engineering and Automation, Huaqiao University, Xiamen, 361021, China
fYear :
2012
fDate :
3-5 March 2012
Firstpage :
676
Lastpage :
680
Abstract :
Some configurations of 6-DOF wire-driven parallel crane robots with 3 wires have been designed. For each kind of the design configurations, the generalized inverse pose kinematics problems are analyzed and the general existences of solutions are studied, which will verify the feasibility of the design configurations. It has a certain guiding significance for future researchers to select the configuration of 6-DOF wire-driven parallel crane robots with 3 wires.
Keywords :
Configuration design; Crane robot; Inverse pose kinematics; Wire-driven;
fLanguage :
English
Publisher :
iet
Conference_Titel :
Automatic Control and Artificial Intelligence (ACAI 2012), International Conference on
Conference_Location :
Xiamen
Electronic_ISBN :
978-1-84919-537-9
Type :
conf
DOI :
10.1049/cp.2012.1068
Filename :
6492675
Link To Document :
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