3-D dynamic simulation and experiment for shaft and hole mating of redundant dual-arm robot

Jun Zhou; Xi Lun Ding; Zhen Lu

3-D dynamic simulation and experiment for shaft and hole mating of redundant dual-arm robot

Jun Zhou^*
, Xi Lun Ding
, Zhen Lu

^*此作品的通讯作者

机械工程及自动化学院

Beihang University

科研成果: 期刊稿件 › 文章 › 同行评审

4 引用（Scopus）

摘要

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.

源语言	英语
页（从-至）	422-427
页数	6
期刊	Jiqiren/Robot
卷	28
期	4
出版状态	已出版 - 7月 2006

其它文件与链接

链接到 Scopus 的出版物

引用此

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title = "3-D dynamic simulation and experiment for shaft and hole mating of redundant dual-arm robot",

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.",

keywords = "Coordination of dual arms, Hierarchical structure, Loose coordination, Redundant manipulator, Shaft and hole mating",

author = "Jun Zhou and Ding, \{Xi Lun\} and Zhen Lu",

year = "2006",

month = jul,

language = "英语",

volume = "28",

pages = "422--427",

journal = "Jiqiren/Robot",

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publisher = "Chinese Academy of Sciences",

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AU - Zhou, Jun

AU - Ding, Xi Lun

AU - Lu, Zhen

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N2 - 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.

AB - 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.

KW - Coordination of dual arms

KW - Hierarchical structure

KW - Loose coordination

KW - Redundant manipulator

KW - Shaft and hole mating

UR - https://www.scopus.com/pages/publications/33747477852

M3 - 文章

AN - SCOPUS:33747477852

SN - 1002-0446

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JO - Jiqiren/Robot

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IS - 4

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3-D dynamic simulation and experiment for shaft and hole mating of redundant dual-arm robot

摘要

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