ProfessionalEnglishofIndustrialRobots工业机器人专业英语Unit3RobotdynamicsandcontrolLesson’sactivity1.WhatwillIlearninthischapter? Todemonstratethatyou:1)Understandthebasicconceptsofrobotkinematics.2)Understandthedegreeoffreedomofrobot.3)Understandthestructuralcharacteristicsofindustrialrobots. FORLISTENINGPreparation ...
大学课件 机器人运动学Robot Kinematics(运动学).ppt,X0 Y0 0 Y1 X1 0 y1 x1 a1 v v Figure 2.8: First Link - Translate X1,Y1 Axes along X0 X0 Y0 x0 y0 0 q1 Y1 X1 R 0 y1 x1 a1 v v Figure 2.9: First Link - Rotate X1,Y1 Axes about Z0 Two-Link, Planar Robot usi
pseudoInverseMat(A,lambda) 获得A的Moore-Penrose pseudoinverse (Matlab自带命令:pinv(A)) q = inverseKinematics(I_r_IE_des, C_IE_des, q_0, tol) 用数值方法求解运动学逆解 function[ pinvA ]=pseudoInverseMat(A, lambda)% Input: Any m-by-n matrix, and a damping factor.% Output: An n-...
Unit3Robotdynamicsand control Lesson’sactivity➢Preparation ➢1.WhatwillIlearninthischapter？Todemonstratethatyou:✓1)Understandthebasicconceptsofrobotkinematics.✓2)Understandthedegreeoffreedomofrobot.✓3)Understandthestructuralcharacteristicsofindustrialrobots.FORLISTENING Lesson’sactivity ➢2.HowdoI...
摘要: The robotic kinematics is essential for describing an end-effector's position, orientation as well as motion of all the joints, while dynamics modeling is crucial for analyzing and synthesizing the...DOI: 10.1007/978-981-10-0830-6_2 被引量: 9 ...
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R., "Kinematics and Dynamics of Robot Manipulators", Handbook of Industrial Robotics, John Wiley & Sons, 2 ed., 1999, pp- 79-98.Goldenberg, A.A., Emami, M.R. , 1999, "Kinematics and Dynamics of Robot Manipulators", In: Handbook of Industrial Robotics, Nof, S. Y., 2nd ed., ...
关键词: collision avoidance mobile robots robot dynamics robot kinematics MOBIT civilian missions dynamics modeling kinematics modeling military missions mobile robot of BIT 会议名称: 2010 IEEE International Conference on Robotics and Biomimetics 主办单位: IEEE ...
ROBOT KINEMATICS AND DYNAMICS θ 1 x 0 y 0 x 1 y 1 Link 1 Joint 1 P Figure 2.1: A revolute joint. x 0 y 0 x 1 y 1 D Figure 2.2: Coordinate transformation consisting of a single translation along the x-axis. Of course, these equations can be generalized to express the position...
top of robot according to the axis, converted the desired force to position compensation based on the kinematics and dynamics of the robot, and proposed a hybrid position/force control with virtual impedance model of robot manipulators. ... G Hu,Q Huang,T Hanafusa - 《Journal of Physics Conf...