DocumentCode :
2813983
Title :
Kinematic and dynamic optimizations of the redundant manipulator via local degrees of freedom
Author :
Bian, Yushu ; Gao, Zhihui ; Liu, Min
Author_Institution :
State Key Lab. for Robot. & Syst., Harbin Inst. of Technol., Harbin, China
fYear :
2011
fDate :
15-17 July 2011
Firstpage :
5022
Lastpage :
5025
Abstract :
In order to conquer the difficulty of simultaneous optimizations on kinematic and dynamic indices of the redundant manipulator, a new type of redundant manipulator with local degrees of freedom is proposed. Redundant degrees of freedom are used to optimize kinematic index, and local degrees of freedom are used to optimize dynamic index. The corresponding optimization method is suggested. As a result, the kinematic and dynamic indices of the redundant manipulator can be optimized simultaneousely. Some simulations are carried out, and the optimization method is verified to be effective.
Keywords :
manipulator dynamics; redundant manipulators; dynamic index optimization; kinematic index optimization; redundant manipulator; simultaneous optimization; Jacobian matrices; Kinematics; Manipulator dynamics; Moment methods; Optimization; dynamic; kinematic; local degrees of freedom; optimization; redundant manipulator;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Mechanic Automation and Control Engineering (MACE), 2011 Second International Conference on
Conference_Location :
Hohhot
Print_ISBN :
978-1-4244-9436-1
Type :
conf
DOI :
10.1109/MACE.2011.5988144
Filename :
5988144
Link To Document :
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