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The Numerical Analogy of Position and Pose of a Manipulator Hand(PDF)

《南京理工大学学报》(自然科学版)[ISSN:1005-9830/CN:32-1397/N]

Issue:
1998年04期
Page:
17-20
Research Field:
Publishing date:

Info

Title:
The Numerical Analogy of Position and Pose of a Manipulator Hand
Author(s):
Zhang Jiyuan Shen Shoufan1
Department of Mechanics,Shanghai Maritime University,Shanghai 200135
¹ Schoo l o f Mechanics, NUST , Nanjing 210094
Keywords:
manipulato rs curve fit t ing orthogo nal po lynomials cubic spline funct ion po sit ion and pose
PACS:
TH112.1,TP241.02
DOI:
-
Abstract:
In this paper, the o rtho gonal polynomial method( OPM) and the cubic spl ine metho d( CSM) are int roduced in o rder to analogize a curv e L and it s basic vectors ( i. e. , tagent , no rmal and binormal vecto r) . The cur ve L is determined by a discr ete set o f sampled points ri ( i = 0, 1, ?, m) . If the discrete set of sampled point s accurately lies at a curve, it is mo re precise to use CSM, and if not , it is more pr act icable to use OPM. T he effect iveness of the tw o metho ds is tested by ex ample. Because the result s of analo gy are some polynomials, these r esul ts can conv enient ly be ado pted in t imely co nt ro l of a manipulato r hand in order that may it s cent re lie at the f itt ing curv e and it s pose many coincide w ith the basic vector s o f the f it ting curve.

References:

1 李庆杨, 王能超, 易大义. 数值分析. 武汉: 华中工学院出版社, 1982. 87~93
2 李岳生, 黄友谦. 数值逼近. 北京: 人民教育出版社, 1978. 76~132
3 吴大任. 微分几何. 北京: 人民教育出版社, 1979. 25~140

Memo

Memo:
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Last Update: 2013-03-29