The Research on Position and Orientation Constraint of Rootless Redundant Robots Based on Dynamic Modeling
Na Li, Haiyong Jiang, Yazhou Xing, Xianpeng Zhang
Available Online April 2015.
- https://doi.org/10.2991/icmra-15.2015.200How to use a DOI?
- Rootless redundant robots; dynamics; locomotion control; second-order nonholonomic; nominal mechnism
- Based on a Dynamic Nominal Mechanism adding to the rootless redundant robots, the dynamic modeling for can be established. The DNM is an idealized dynamic chain whose base is fixed at a point on earth, which makes the rootless redundant robots convert into the open chain multi-body system with fixed base. According to the established dynamic modeling, and the second-order nonholonomic constraints equations are developed from decomposition of the inertia matrix and the Christoffel tensor, and the position and orientation constraint is obtained then, which provides a research basis for designing the motion controller of rootless redundant robots. And the validity of the constraint equation is proved through the simulations of dynamic modeling of 8R rootless redundant robot.
- Open Access
- This is an open access article distributed under the CC BY-NC license.
Cite this article
TY - CONF AU - Na Li AU - Haiyong Jiang AU - Yazhou Xing AU - Xianpeng Zhang PY - 2015/04 DA - 2015/04 TI - The Research on Position and Orientation Constraint of Rootless Redundant Robots Based on Dynamic Modeling BT - Proceedings of the 3rd International Conference on Mechatronics, Robotics and Automation PB - Atlantis Press SP - 1031 EP - 1035 SN - 2352-538X UR - https://doi.org/10.2991/icmra-15.2015.200 DO - https://doi.org/10.2991/icmra-15.2015.200 ID - Li2015/04 ER -