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Dual-manipulator Coordinate Motion Planning Scheme for Robot Satellite
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作者 刘宏 洪炳熔 蔡鹤皋 《Journal of Harbin Institute of Technology(New Series)》 EI CAS 1996年第3期24-27,共4页
A scheme of dual-manipulator coordination motion planning for robot satellite (RS) is proposed.Based on the analysis of RS motion characteristics in micro-gravity environment, two manipulators are divided into main ma... A scheme of dual-manipulator coordination motion planning for robot satellite (RS) is proposed.Based on the analysis of RS motion characteristics in micro-gravity environment, two manipulators are divided into main manipulator and assistant manipulator. Then, four kinds of coordination modes for dual-manipulator RS, namely,stablizing function, counterbalancing function, adjusting function and coorperative operation are presented. Motion planning algorithm for dual-manipulator is also presented.Finally, computer simulation results of the four kinds of coordination modes for a RS experimental model capturing target operation in micro-gravity environment are given.Simulation experiments show that the coordination modes and planning algorithm proposed in this paper are effective. 展开更多
关键词 ss: robot SATELLITE motion planning dual-manipulator coordination configuration space micro-gravity environment
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基于人工神经网络的操作手IKP求解 被引量:1
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作者 陈国锋 杨昂岳 +1 位作者 傅祥志 廖道训 《国防科技大学学报》 EI CAS CSCD 北大核心 1995年第2期48-52,共5页
人工神经网络以其信息的并行处理与分布式存储、自组织和自适应等特点,在机器人领域显示了极大的应用潜力。本文探讨人工神经网络在机器人操作手IKP求解中的应用,试图求得操作手IKP的一组或所有可行解。文章利用BP网络对操作... 人工神经网络以其信息的并行处理与分布式存储、自组织和自适应等特点,在机器人领域显示了极大的应用潜力。本文探讨人工神经网络在机器人操作手IKP求解中的应用,试图求得操作手IKP的一组或所有可行解。文章利用BP网络对操作手IKP的求解进行了讨论和分析,并给出了具体的求解实例。 展开更多
关键词 机器人 操作手 运动学逆问题 神经网络
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