The Research on Position and Orientation Constraint of Rootless Redundant Robots Based on Dynamic Modeling

DOI

10.2991/icmra-15.2015.200How to use a DOI?

Keywords

Rootless redundant robots; dynamics; locomotion control; second-order nonholonomic; nominal mechnism

Abstract

Based on a Dynamic Nominal Mechanism adding to the rootless redundant robots, the dynamic modeling for can be established. The DNM is an idealized dynamic chain whose base is fixed at a point on earth, which makes the rootless redundant robots convert into the open chain multi-body system with fixed base. According to the established dynamic modeling, and the second-order nonholonomic constraints equations are developed from decomposition of the inertia matrix and the Christoffel tensor, and the position and orientation constraint is obtained then, which provides a research basis for designing the motion controller of rootless redundant robots. And the validity of the constraint equation is proved through the simulations of dynamic modeling of 8R rootless redundant robot.

Copyright

© 2015, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Na Li
AU  - Haiyong Jiang
AU  - Yazhou Xing
AU  - Xianpeng Zhang
PY  - 2015/04
DA  - 2015/04
TI  - The Research on Position and Orientation Constraint of Rootless Redundant Robots Based on Dynamic Modeling
BT  - Proceedings of the 3rd International Conference on Mechatronics, Robotics and Automation
PB  - Atlantis Press
SP  - 1031
EP  - 1035
SN  - 2352-538X
UR  - https://doi.org/10.2991/icmra-15.2015.200
DO  - 10.2991/icmra-15.2015.200
ID  - Li2015/04
ER  -