TY - GEN
T1 - Attitude analysis of reachable space for spatial manipulator
AU - Leng, Yuquan
AU - Zhang, Yang
AU - Zhang, Wei
AU - He, Xu
AU - Zhou, Weijia
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015/7/17
Y1 - 2015/7/17
N2 - Space manipulators are mainly used in the spatial loading task. According with the problems of the spatial loading diversity, the testing loading installing position and the utilization ratio of the test platform, the space manipulator is asked to evaluate the position and attitude of itself. This paper first put forward the concept of the Omni-directional Coefficient, which can evaluate any point in the attainable domain of the manipulators, with the combination of the manipulation's position message, and got the relationship between its position and attitude of all points in the attainable domain. Second, it represented the attitude of the end-effectors with attitude sphere. At last, proposed the method to evaluate the Omni-directional characters of the whole manipulator. This paper analyzed space manipulator experiment data analysis, using the method of numerical computation and graphic display. On the one hand, compared the Omni-directional Coefficient with the early quantitative representation used analytical method, on the other hand, vividly showed the Omni-directional Coefficient, Omni-directional space and the distribution of the Omni-directional in the attainable domain when the manipulator is the initial point. At last, we got the Omni-directional Coefficient of the whole manipulator by data analysis method.
AB - Space manipulators are mainly used in the spatial loading task. According with the problems of the spatial loading diversity, the testing loading installing position and the utilization ratio of the test platform, the space manipulator is asked to evaluate the position and attitude of itself. This paper first put forward the concept of the Omni-directional Coefficient, which can evaluate any point in the attainable domain of the manipulators, with the combination of the manipulation's position message, and got the relationship between its position and attitude of all points in the attainable domain. Second, it represented the attitude of the end-effectors with attitude sphere. At last, proposed the method to evaluate the Omni-directional characters of the whole manipulator. This paper analyzed space manipulator experiment data analysis, using the method of numerical computation and graphic display. On the one hand, compared the Omni-directional Coefficient with the early quantitative representation used analytical method, on the other hand, vividly showed the Omni-directional Coefficient, Omni-directional space and the distribution of the Omni-directional in the attainable domain when the manipulator is the initial point. At last, we got the Omni-directional Coefficient of the whole manipulator by data analysis method.
KW - Omni-bearing
KW - Omni-directional Coefficient
KW - Omni-directional space
KW - attitude sphere
KW - spatial manipulator
UR - https://www.scopus.com/pages/publications/84945577726
U2 - 10.1109/CCDC.2015.7162806
DO - 10.1109/CCDC.2015.7162806
M3 - 会议稿件
AN - SCOPUS:84945577726
T3 - Proceedings of the 2015 27th Chinese Control and Decision Conference, CCDC 2015
SP - 4927
EP - 4931
BT - Proceedings of the 2015 27th Chinese Control and Decision Conference, CCDC 2015
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 27th Chinese Control and Decision Conference, CCDC 2015
Y2 - 23 May 2015 through 25 May 2015
ER -