Task Space Division and Trajectory Planning for a Flexible Macro-Micro Manipulator System

Task Space Division and Trajectory Planning for a

Flexible Macro-Micro Manipulator System

佚名

【期刊名称】《清华大学学报（英文版）》 【年(卷),期】2007(012)005

【摘要】This paper deals with a flexible macro-micro manipulator system, which includes a long flexible manipulator and a relatively short rigid manipulator attached to the tip of the macro manipulator. A flexible macro manipulator possesses the advantages of wide operating range, high speed, and low energy consumption, but the disadvantage of a low tracking precision. The macro-micro manipulator system improves tracking performance by compensating for the endpoint tracking error while maintaining the advantages of the flexible macro manipulator. A trajectory planning scheme was built utilizing the task space division method. The division point is chosen to optimize the error compensation and energy consumption for the whole system. Then movements of the macro-micro manipulator can be determined using separate inverse kinematic models. Simulation results for a planar 4-DOF macro-micro manipulator system are presented to show the effectiveness of the control system. 【总页数】7页(607-613)

【关键词】macro-micro manipulator; trajectory planning; trajectory

tracking control; task space division; flexible manipulator 【作者】佚名

【作者单位】Department of Computer Science and Technology, Tsinghua University, Beijing 100084, China;Department of Computer Science and Technology, Tsinghua University, Beijing 100084, China;Department of Computer Science and Technology, Tsinghua University, Beijing 100084, China 【正文语种】中文 【中图分类】TP3 【文献来源】

https://www.zhangqiaokeyan.com/academic-journal-cn_tsinghua-science-technology_thesis/0201250461851.html 【相关文献】

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