作者
O Altuzarra, O Salgado, V Petuya, A Hernández
发表日期
2008/1/4
期刊
Engineering Computations
卷号
25
期号
1
页码范围
4-27
出版商
Emerald Group Publishing Limited
简介
Purpose
–
This paper aims to provide tools for the complete Jacobian analysis of robotic manipulators of general topology, using a comprehensive velocity equation.
Design/methodology/approach
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First, a modelling process is made in order to build the velocity equation using simple constraint equations: i.e. length restriction, relative motion and rigid body constraints. Then the motion space is solved, i.e. the space that spans all feasible motions of the manipulator.
Findings
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The velocity equation is comprehensive, i.e. it relates all kinematic variables, not only input and output. The Jacobian related to the comprehensive velocity equation is a square dimensionless matrix. This characteristic has great importance when evaluating manipulability or closeness to singularities. Employing the motion space, any kinematic entity can be studied: i.e. velocities and accelerations of any active/passive joints, screw axis, axodes …
学术搜索中的文章
O Altuzarra, O Salgado, V Petuya, A Hernández - Engineering Computations, 2008