Efficient kinematic solution to a multi-robot with serial and parallel mechanisms

	Efficient kinematic solution to a multi-robot with serial and parallel mechanisms
	Zhang Houxiang; Salvietti Gionata; Wang Wei; Li Guoyuan; Yu Junzhi; Zhang Jianwei
	2010
会议名称	IEEE/RSJ International Conference on Intelligent Robots and Systems
会议录名称	IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
页码	6101-6106
会议日期	2010.10
会议地点	Taipei, Taiwan
摘要	This paper presents an efficient kinematical solution to a multi-robot system with serial and parallel mechanisms. JL-I is a reconfigurable robot featuring active spherical joints formed by serial and parallel mechanisms endowing the robotic system with the ability of changing shapes in three dimensions. The active joint here can combine the advantages of the high rigidity of a parallel mechanism and the extended workspace of a serial mechanism. However, the kinematic analysis of the serial and parallel mechanism is always the bottleneck in designing a robot and control realization. In order to deal with this problem, the whole kinematical analysis is organized in the sequence from the direct mechanical analysis related to the serial and parallel mechanism over the numerical solutions to the simplified kinematics expression. The latest results obtained demonstrate that the deduced closure-form solution is time efficient and easy to implement while offering a satisfactory motion performance in on-site experiments.
关键词	Jacobian Matrices robots
收录类别	EI
文献类型	会议论文
条目标识符	http://ir.ia.ac.cn/handle/173211/4865
专题	复杂系统认知与决策实验室_先进机器人
通讯作者	Zhang Houxiang
推荐引用方式 GB/T 7714	Zhang Houxiang,Salvietti Gionata,Wang Wei,et al. Efficient kinematic solution to a multi-robot with serial and parallel mechanisms[C],2010:6101-6106.