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机械臂非线性定位方程计算新方法
引用本文:丁大民,邓 琛,张琴舜,王朝斌.机械臂非线性定位方程计算新方法[J].华南农业大学学报(社会科学版),2014,32(6).
作者姓名:丁大民  邓 琛  张琴舜  王朝斌
作者单位:1.上海工程技术大学电子电气工程学院,上海201620: 2.上海交通大学核科学与工程学院,上海200240
基金项目:国家自然科学基金项目(61201244)
摘    要:针对机械臂定位算法中,数值算法计算量大,仿真过程存在累积误差,几何算法通用性不强等问题,以手术机器 人六自由度机械臂为研究对象,建立了一组多关节机械臂非线性定位方程组,提出了其基于非线性大范围渐近稳定的 求解方法。结果表明该方法既简化运算,又有利于物理实现,为机械臂高速、准确运动提供了基础,实验表明该算法适用 多关节的移动机械臂的非线性定位方程的求解,有较高的求解精度和收敛速度。

关 键 词:机械臂  非线性方程  定位  李雅普诺夫大范围渐近稳定原理

New Method to Calculate the Nonlinear Location Equations on Manipulator
DING Daminl,DENG Chenl,ZHANG Qinshun,WANG Chaobinl.New Method to Calculate the Nonlinear Location Equations on Manipulator[J].Journal of South China Agricultural University:Social Science Edition,2014,32(6).
Authors:DING Daminl  DENG Chenl  ZHANG Qinshun  WANG Chaobinl
Affiliation:1 . School of Electric and Electronic Engineering , Shanghai University of Engineering Science , Shanghai 201620 , China ; 2. School of Nuclear Science and Engineering , Shanghai Jiao Tong University , Shanghai 200240 . China
Abstract:This paper built a multi-joint manipulators model with a set of nonlinear location equations on a 6-DOF surgical robot. Further, it presented a calculation method of these nonlinear location equations based on Lyapunov stability theorem. With this method the operation of nonlinear location equations was simplified and simulated easily, which was benefit for high-speed manipulator. Experimental results show that the algorithm is suitable for solving multi- joint manipulators nonlinear location equations. and it has a higher accuracy and convergence speed.
Keywords:manipulators  nonlinear  equations  location  Lyapunov  Stability  Theorem
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