Kinematics-based studies on a 7-DOF redundant manipulator

Min Chih Liu, Ho Hsuan Tsai, Te-Sheng Hsiao

研究成果: Conference contribution同行評審

3 引文 斯高帕斯(Scopus)

摘要

Traditional industrial robots require at least 6-degree-of-freedom (DOF) to completely specify the position and orientation of the end-effector in the 3D space. However, extra DOF enables the robot to accomplish more challenging tasks such as obstacle avoidance, torque optimization, fault tolerance, etc. at the price of increasingly complicated kinematics. This paper is aimed at investigating some kinematics-related problems associated with a 7-DOF robot, including forward kinematics, inverse kinematics, Jacobian matrix, and collision detection, to set up the base for future researches.

原文English
主出版物標題CACS 2014 - 2014 International Automatic Control Conference, Conference Digest
發行者Institute of Electrical and Electronics Engineers Inc.
頁面228-231
頁數4
ISBN(電子)9781479945849
DOIs
出版狀態Published - 28 4月 2014
事件2014 International Automatic Control Conference, CACS 2014 - Kaohsiung, Taiwan
持續時間: 26 11月 201428 11月 2014

出版系列

名字CACS 2014 - 2014 International Automatic Control Conference, Conference Digest

Conference

Conference2014 International Automatic Control Conference, CACS 2014
國家/地區Taiwan
城市Kaohsiung
期間26/11/1428/11/14

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