Kinematics of Reconfigurable Flexible- Manipulator Using a Local Product-of-Exponentials Formula

Author

Li, Ying ; Zhu, Mingchao ; Li, Yuanchun

Author_Institution

Dept. of Control Sci. & Eng., Jilin Univ., Changchun

Volume

2

fYear

0

fDate

0-0 0

Firstpage

9022

Lastpage

9026

Abstract

The kinematics of reconfigurable flexible-manipulator is automatically generated based on local POE method after investigating its effectiveness on geometric computing aspects. This article addresses both joint and link flexibilities at the same time. And also assumed mode model is provided to establish the flexible link kinematics. In the assumed mode model, all the parameters are considered as functions of time and time-dependent frequency equation is given. Finally, a RRP manipulator is set out to show the accurate kinematics model

Keywords

dexterous manipulators; manipulator kinematics; flexible joints; flexible link kinematics; product-of-exponentials method; reconfigurable flexible manipulator kinematics; time-dependent frequency equation; Automatic control; Equations; Frequency; Kinematics; Manipulators; Orbital robotics; Protection; Robotics and automation; Space exploration; Space technology; Assumed mode model; Flexible joints and links; Local POE; Reconfigurable flexible manipulator;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Control and Automation, 2006. WCICA 2006. The Sixth World Congress on

Conference_Location

Dalian

Print_ISBN

1-4244-0332-4

Type

conf

DOI

10.1109/WCICA.2006.1713745

Filename

1713745