Trajectory Optimization and Simulation of Aerospace Robotic Arm

被引：1

作者：

Zong, Lijun ^{[1
]}

Wang, Guangkuo ^{[1
]}

Li, Xin ^{[1
]}

Wang, Lei ^{[1
]}

Zhang, Xiaomin ^{[1
]}

Wang, Lijia ^{[1
]}

Dong, Jiming ^{[1
]}

Guo, Baiwei ^{[1
]}

机构：

[1] Beijing Inst Technol, Minist Educ, Key Lab Dynam & Control Flight Vehicle, Beijing 100081, Peoples R China

来源：

ENGINEERING SOLUTIONS FOR MANUFACTURING PROCESSES, PTS 1-3 | 2013年 / 655-657卷

关键词：

Aerospace robotic arm; D-H model optimization algorithm; motion simulation;

D O I：

10.4028/www.scientific.net/AMR.655-657.1057

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

Aerospace robotic arms have important applications in aerospace engineering (capture satellite, develop the technology of extra-vehicle activity (EVA), etc.) This paper first introduces the development and background of the Aerospace Robotic Arm. In later sections, a kinematics model of a Six-DOF manipulator is built based on DenavitHartenberg(D-H) method, then, the paper discusses an inverse kinematics solving method of the manipulator. At last, we show the simulation by integrating the use of SolidWorks, Matlab, and a number of their modules.

引用

页码：1057 / 1060

页数：4

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