Omnidirectional Analysis of Spatial Manipulator
Space manipulators are mainly used in the spatial loading task. According to problems of the spatial loading diversity, the testing loading installing position, and the utilization ratio of a test platform, the space manipulator is asked to evaluate the position and attitude of itself. This paper pr...
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| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2015-01-01
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| Series: | Journal of Robotics |
| Online Access: | http://dx.doi.org/10.1155/2015/273237 |
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| _version_ | 1849405108860747776 |
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| author | Yuquan Leng Yang Zhang Xu He Wei Zhang Haitao Luo Weijia Zhou |
| author_facet | Yuquan Leng Yang Zhang Xu He Wei Zhang Haitao Luo Weijia Zhou |
| author_sort | Yuquan Leng |
| collection | DOAJ |
| description | Space manipulators are mainly used in the spatial loading task. According to problems of the spatial loading diversity, the testing loading installing position, and the utilization ratio of a test platform, the space manipulator is asked to evaluate the position and attitude of itself. This paper proposes the Point Omnidirectional Coefficient (POC) with unit attitude sphere/circle to describe attitude of the end-effector, which evaluates any points in the attainable space of the manipulators, in combination with the manipulation’s position message, and get relationships between its position and attitude of all points in the attainable space. It represents the mapping between sphere surface and plane for mission attitude constraints and the method for calculating volume of points space including attainable space, Omnidirectional space, and mission attitude space. Furthermore, the Manipulator Omnidirectional Coefficient based on mission or not is proposed for evaluating manipulator performance. Through analysis and simulation about 3D and 2D manipulators, the results show that the above theoretical approach is feasible and the relationships about link lengths, joints angles, attainable space, and Manipulator Omnidirectional Coefficient are drawn for guiding design. |
| format | Article |
| id | doaj-art-46c0f1030e9343c2a53e9d9692edfd2c |
| institution | Kabale University |
| issn | 1687-9600 1687-9619 |
| language | English |
| publishDate | 2015-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Robotics |
| spelling | doaj-art-46c0f1030e9343c2a53e9d9692edfd2c2025-08-20T03:36:45ZengWileyJournal of Robotics1687-96001687-96192015-01-01201510.1155/2015/273237273237Omnidirectional Analysis of Spatial ManipulatorYuquan Leng0Yang Zhang1Xu He2Wei Zhang3Haitao Luo4Weijia Zhou5State Key Laboratory of Robotics, Shenyang Institute of Automation, Shenyang 110016, ChinaState Key Laboratory of Robotics, Shenyang Institute of Automation, Shenyang 110016, ChinaState Key Laboratory of Robotics, Shenyang Institute of Automation, Shenyang 110016, ChinaState Key Laboratory of Robotics, Shenyang Institute of Automation, Shenyang 110016, ChinaState Key Laboratory of Robotics, Shenyang Institute of Automation, Shenyang 110016, ChinaState Key Laboratory of Robotics, Shenyang Institute of Automation, Shenyang 110016, ChinaSpace manipulators are mainly used in the spatial loading task. According to problems of the spatial loading diversity, the testing loading installing position, and the utilization ratio of a test platform, the space manipulator is asked to evaluate the position and attitude of itself. This paper proposes the Point Omnidirectional Coefficient (POC) with unit attitude sphere/circle to describe attitude of the end-effector, which evaluates any points in the attainable space of the manipulators, in combination with the manipulation’s position message, and get relationships between its position and attitude of all points in the attainable space. It represents the mapping between sphere surface and plane for mission attitude constraints and the method for calculating volume of points space including attainable space, Omnidirectional space, and mission attitude space. Furthermore, the Manipulator Omnidirectional Coefficient based on mission or not is proposed for evaluating manipulator performance. Through analysis and simulation about 3D and 2D manipulators, the results show that the above theoretical approach is feasible and the relationships about link lengths, joints angles, attainable space, and Manipulator Omnidirectional Coefficient are drawn for guiding design.http://dx.doi.org/10.1155/2015/273237 |
| spellingShingle | Yuquan Leng Yang Zhang Xu He Wei Zhang Haitao Luo Weijia Zhou Omnidirectional Analysis of Spatial Manipulator Journal of Robotics |
| title | Omnidirectional Analysis of Spatial Manipulator |
| title_full | Omnidirectional Analysis of Spatial Manipulator |
| title_fullStr | Omnidirectional Analysis of Spatial Manipulator |
| title_full_unstemmed | Omnidirectional Analysis of Spatial Manipulator |
| title_short | Omnidirectional Analysis of Spatial Manipulator |
| title_sort | omnidirectional analysis of spatial manipulator |
| url | http://dx.doi.org/10.1155/2015/273237 |
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