Formal Kinematic Analysis of a General 6R Manipulator Using the Screw Theory

المؤلفون المشاركون

Guan, Yong
Wu, Aixuan
Li, Yongdong
Wu, Minhua
Wei, Hongxing
Zhang, Jie
Shi, Zhiping

المصدر

Mathematical Problems in Engineering

العدد

المجلد 2015، العدد 2015 (31 ديسمبر/كانون الأول 2015)، ص ص. 1-7، 7ص.

الناشر

Hindawi Publishing Corporation

تاريخ النشر

2015-10-28

دولة النشر

مصر

عدد الصفحات

7

التخصصات الرئيسية

هندسة مدنية

الملخص EN

Kinematic analysis is a significant method when planning the trajectory of robotic manipulators.

The main idea behind kinematic analysis is to study the motion of the robot based on the geometrical relationship of the robotic links and their joints, such as the Denavit-Hartenberg parameters.

Given the continuous nature of kinematic analysis and the shortcoming of the traditional verification methods, we propose to use high-order-logic theorem proving for conducting formal kinematic analysis.

Based on the screw theory in HOL4, which is newly developed by our research institute, we utilize the geometrical theory of HOL4 to develop formal reasoning support for the kinematic analysis of a robotic manipulator.

To illustrate the usefulness of our fundamental formalization, we present the formal kinematic analysis of a general 6R manipulator.

نمط استشهاد جمعية علماء النفس الأمريكية (APA)

Wu, Aixuan& Shi, Zhiping& Li, Yongdong& Wu, Minhua& Guan, Yong& Zhang, Jie…[et al.]. 2015. Formal Kinematic Analysis of a General 6R Manipulator Using the Screw Theory. Mathematical Problems in Engineering،Vol. 2015, no. 2015, pp.1-7.
https://search.emarefa.net/detail/BIM-1074129

نمط استشهاد الجمعية الأمريكية للغات الحديثة (MLA)

Wu, Aixuan…[et al.]. Formal Kinematic Analysis of a General 6R Manipulator Using the Screw Theory. Mathematical Problems in Engineering No. 2015 (2015), pp.1-7.
https://search.emarefa.net/detail/BIM-1074129

نمط استشهاد الجمعية الطبية الأمريكية (AMA)

Wu, Aixuan& Shi, Zhiping& Li, Yongdong& Wu, Minhua& Guan, Yong& Zhang, Jie…[et al.]. Formal Kinematic Analysis of a General 6R Manipulator Using the Screw Theory. Mathematical Problems in Engineering. 2015. Vol. 2015, no. 2015, pp.1-7.
https://search.emarefa.net/detail/BIM-1074129

نوع البيانات

مقالات

لغة النص

الإنجليزية

الملاحظات

Includes bibliographical references

رقم السجل

BIM-1074129