PLANNING MOTION TRACE OF ROBOT BY SPINOR METHOD

Applied Mathematics and Mechanics (English Edition) ›› 2000, Vol. 21 ›› Issue (1): 109-116.

• Articles • Previous Articles Next Articles

PLANNING MOTION TRACE OF ROBOT BY SPINOR METHOD

Lin Ruilin

Department of Precise Mechanics Engineering, Huaqiao University, Quanzhou 362011, P R China

Received:1998-02-05 Revised:1999-10-30 Online:2000-01-18 Published:2000-01-18
Supported by:
the Natural Science Foundation of Fujian Province,China

Abstract

Abstract: The spinors applied to describe position and attitude of robot are studied. In dual spaces, the terminal trace of robot is planned through the mapping point, of attitude spinors. As a handy method directly perceived through the sense, the spinor method directly converges tracking error in the planning. It promotes the dynamic accuracy of trace operation. It is also suitable to the exerciser with redundant freedom.

Key words: spinor method, robot, planning, motion trace

2010 MSC Number:

Lin Ruilin. PLANNING MOTION TRACE OF ROBOT BY SPINOR METHOD. Applied Mathematics and Mechanics (English Edition), 2000, 21(1): 109-116.

TrendMD

[1]	Ningbo AN, Qishao WANG, Xiaochuan ZHAO, Qingyun WANG. Differential flatness-based distributed control of underactuated robot swarms [J]. Applied Mathematics and Mechanics (English Edition), 2023, 44(10): 1777-1790.
[2]	Huliang DAI, Yixiang HE, Kun ZHOU, Zerui PENG, Lin WANG, P. HAGEDORN. Utilization of nonlinear vibrations of soft pipe conveying fluid for driving underwater bio-inspired robot [J]. Applied Mathematics and Mechanics (English Edition), 2022, 43(7): 1109-1124.
[3]	Yun CUI, Yafei YIN, Chengjun WANG, K. SIM, Yuhang LI, Cunjiang YU, Jizhou SONG. Transient thermo-mechanical analysis for bimorph soft robot based on thermally responsive liquid crystal elastomers [J]. Applied Mathematics and Mechanics (English Edition), 2019, 40(7): 943-952.
[4]	Zhaoyue XU, Lin DU, Haopeng WANG, Zichen DENG. Particle swarm optimization-based algorithm of a symplectic method for robotic dynamics and control [J]. Applied Mathematics and Mechanics (English Edition), 2019, 40(1): 111-126.
[5]	Xinyan YIN, Lichao JIA, Chen WANG, Guangming XIE. Modelling of thrust generated by oscillation caudal fin of underwater bionic robot [J]. Applied Mathematics and Mechanics (English Edition), 2016, 37(5): 601-610.
[6]	DING Xi-Lun;J.M.SELIG. Screw theoretic view on dynamics of spatially compliant beam [J]. Applied Mathematics and Mechanics (English Edition), 2010, 31(09): 1173-1188.
[7]	GUO Yi-shen;CHEN Li. Adaptive neural network control for coordinated motion of a dual-arm space robot system with uncertain parameters [J]. Applied Mathematics and Mechanics (English Edition), 2008, 29(9): 1131-1140 .
[8]	GE Xin-sheng;CHEN Li-qun. Optimal control of nonholonomic motion planning for a free-falling cat [J]. Applied Mathematics and Mechanics (English Edition), 2007, 28(5): 601-607 .
[9]	ZHANG Ding-guo;ZHOU Sheng-feng. DYNAMIC ANALYSIS OF FLEXIBLE-LINK AND FLEXIBLE-JOINT ROBOTS [J]. Applied Mathematics and Mechanics (English Edition), 2006, 27(5): 695-704 .
[10]	DONG Bin;ZHANG Xiang-de . CONTINUATION METHOD APPLIED IN KINEMATICS OF PARALLEL ROBOT [J]. Applied Mathematics and Mechanics (English Edition), 2001, 22(12): 1422-1428.
[11]	GE Xin-sheng;ZHANG Qi-zhi;LIU Yan-zhu. BASED ON WAVELET ANALYSIS TO OPTIMAL CONTROL OF MOTION PLANNING OF SPACE MANIPULATOR [J]. Applied Mathematics and Mechanics (English Edition), 2000, 21(10): 1161-1168.
[12]	Zhang Dingguo. THE ADDENDUM FOR THE GENERALIZED D’ALEMBERT EQUATIONS OF MOTION [J]. Applied Mathematics and Mechanics (English Edition), 2000, 21(1): 73-78.
[13]	Lin Ruilin;Jiang Shaoyin;Lin bi. APPLICATION OF SPINOR METHOD TO THE DYNAMIC ANALYSIS OF ROBOT [J]. Applied Mathematics and Mechanics (English Edition), 1996, 17(1): 77-83.
[14]	Zhao Yu-shan;Gu Liang-xian. GENERALIZED DYNAMIC MODEL FOR MULTIBODIES MANIPULATOR [J]. Applied Mathematics and Mechanics (English Edition), 1993, 14(9): 873-877.
[15]	Zhang Shu-shun. THE THEOREM OF THE STABILITY OF LINEAR NONAUTONOMOUS SYSTEMS UNDER THE FREQUENTLY-ACTING PERTURBATION AND ITS APPLICATION IN THE STABILITY ANALYSIS OF ROBOT [J]. Applied Mathematics and Mechanics (English Edition), 1991, 12(11): 1057-1063.

PLANNING MOTION TRACE OF ROBOT BY SPINOR METHOD

PDF

Knowledge

Abstract

Cite this article

share this article

References

Related Articles 15

Recommended Articles

Metrics

Comments