Abstract
The kinematic constraint relations for shaft and hole mating of redundant dual-arm robot are analyzed and a hierarchical control structure is designed. By means of 3-D dynamic graphic simulation, the shaft and hole mating experiment is performed on the cooperative control experiment platform of redundant dual-arm robot. Simulation and experiment results show that this method can make the redundant dual-arm robot complete shaft and hole mating smoothly.
| Original language | English |
|---|---|
| Pages (from-to) | 422-427 |
| Number of pages | 6 |
| Journal | Jiqiren/Robot |
| Volume | 28 |
| Issue number | 4 |
| State | Published - Jul 2006 |
Keywords
- Coordination of dual arms
- Hierarchical structure
- Loose coordination
- Redundant manipulator
- Shaft and hole mating
Fingerprint
Dive into the research topics of '3-D dynamic simulation and experiment for shaft and hole mating of redundant dual-arm robot'. Together they form a unique fingerprint.Cite this
- APA
- Author
- BIBTEX
- Harvard
- Standard
- RIS
- Vancouver