Application of the redundant servomotor approach to design of path generator with dynamic performance improvement

	Application of the redundant servomotor approach to design of path generator with dynamic performance improvement
	Sun, Zhihong 2; Zhang, Bing 2; Cheng, Long3 ; Zhang, W. J.1,2
发表期刊	MECHANISM AND MACHINE THEORY
	2011-11-01
卷号	46 期号:11 页码:1784-1795
文章类型	Article
摘要	In a companion paper published elsewhere [4], we proposed a design approach based on the general redundancy concept to improving the dynamic performance of a mechanism, especially shaking moment and driving torque attenuation. The approach was based on the redundancy function of the servomotor, so the approach is called redundancy servomotor (RSM). In this paper, we apply the RSM to the path generator problem in mechanism design. We will demonstrate how path generator design and dynamic performance improvement can be performed in an integrated manner with the RSM approach. The proposed RSM design procedure can be applied to any type of path generators (four-bar linkage, five-bar linkage, etc.). The contribution of this paper is the proposed RSM design procedure and technique with which to result in a path generator with a better dynamic performance. The other contribution is the proposed approach to the design of the servomotor's trajectory or plan, which is useful to the joint-level path planning problem in robotics. (C) 2011 Elsevier Ltd. All rights reserved.
关键词	Path Generation Servomotor Redundancy Shaking Moment
WOS标题词	Science & Technology ; Technology
关键词[WOS]	SHAKING MOMENT ; MECHANISMS
收录类别	SCI
语种	英语
WOS研究方向	Engineering
WOS类目	Engineering, Mechanical
WOS记录号	WOS:000294246400017
引用统计	被引频次：26[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/3429
专题	复杂系统认知与决策实验室_先进机器人
作者单位	1.Univ Saskatchewan, Dept Mech Engn, Saskatoon, SK S7N 5A9, Canada 2.Donghua Univ, Coll Mech Engn, Shanghai 201620, Peoples R China 3.Chinese Acad Sci, Inst Automat, State Key Lab Intelligent Control & Management Co, Beijing 100190, Peoples R China
推荐引用方式 GB/T 7714	Sun, Zhihong,Zhang, Bing,Cheng, Long,et al. Application of the redundant servomotor approach to design of path generator with dynamic performance improvement[J]. MECHANISM AND MACHINE THEORY,2011,46(11):1784-1795.
APA	Sun, Zhihong,Zhang, Bing,Cheng, Long,&Zhang, W. J..(2011).Application of the redundant servomotor approach to design of path generator with dynamic performance improvement.MECHANISM AND MACHINE THEORY,46(11),1784-1795.
MLA	Sun, Zhihong,et al."Application of the redundant servomotor approach to design of path generator with dynamic performance improvement".MECHANISM AND MACHINE THEORY 46.11(2011):1784-1795.