The Calculation System Development of the Quadruped Robot’s Workspace on Fixed Pose
The Calculation System Development of the Quadruped Robot’s Workspace on Fixed Pose
Abstract: Due to the function expansion of the robot with hand-foot-integration, the robot’s frame which is a original common motion platform turns to a mechanical grab platform with floating. The workspace calculation of the robot’s working arm is the prerequisite for the robot starting to grab the aim. In this paper, the calculation system of the robot’s workspace on fixed pose is introduced. The calculation of the robot’s total centroid position is described, the stability of the robot is analyzed and the relationship between the workspace of robot and the stability criterion is discussed. The calculation process of the workspace is given and a numerical example is illustrated. The System can be used for motion control of robot and provide the theory basis for realization of automatic grab.
Document information
The Calculation System Development of the Quadruped Robot’s Workspace on Fixed Pose
Applied Mechanics and Materials ; 220-223 ; 1186-1189
2012-11-12
4 pages
Article (Journal)
Electronic Resource
English
Similar titles
Representing the robot’s workspace through constrained manipulability analysis
| British Library Online Contents | 2015
Interactive restriction of a mobile robot's workspace in traditional and smart home environments
| BASE | 2020