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摘要:
Taking maximum dynamic stresses and their allocations as constraints, the modified initial configuration planning method and multi-object planning method were proposed innovatedly to plan the dynamics of redundant flexible cooperative robots. The driving torques, power and maximum stresses are reduced effectively. The multi-object planning method can reduce driving torques and system errors at the same time. The acceleration rules after planning are easy to be implemented.
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来源 :
China Mechanical Engineering
ISSN: 1004-132X
年份: 2005
期: 10
卷: 16
页码: 847-851,856
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