Jacobian Matrix Determination in a Novel Master Manipulator Device

被引：0
|
作者：
Zak, Pawel [1 ]
机构：
[1] Lodz Univ Technol, Inst Machine Tools & Prod Engn, Stefanowskiego 1-15, PL-90924 Lodz, Poland
来源：
PROCEEDINGS OF THE 2016 17TH INTERNATIONAL CONFERENCE ON MECHATRONICS - MECHATRONIKA (ME) 2016 | 2016年
关键词：
master manipulator; Jacobian matrix; no singularities;
D O I：
暂无
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
This paper presents a method of Jacobian matrix determination basing on geometrical parameters of angular position master manipulator with limitless work range and no singularities, the device which construction had been developed as a part of PhD thesis of Author. A derivation process and final form of Jacobian matrix that allows to apply torques and velocities in given direction is also presented. The proof of presented master manipulator being free of singularities is shown as well. Also, a test stand and some research results are described.
引用
收藏
页码：440 / 444
页数：5
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