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Vol. 161, Issue 12, December 2013, pp. 198-205




Research on Kinematics for Inhibition Fluttering of Picking Robot Arm
Zhang Zhiyong, * Tang Jinglei, Huang lvwen, Li Heqing

College of information Engineering, Northwest A&F University, Yangling, Shaanxi, 712100, China
E-mail: zzy@nwsuaf.edu.cn, tangjinglei@nwsuaf.edu.cn


Received: 18 September 2013   /Accepted: 22 November 2013   /Published: 30 December 2013

Digital Sensors and Sensor Sysstems


Abstract: To solve basic problems on restraining fluttering of picking robot arm, this paper used the theory on forward kinematics of picking arm through joint movement, mapping, transformation and matrix operations, obtained the redundant problems equation affecting picking robot arm motion. Simulation results showed each joint displacement curve of the robot arm realized the smooth transition, which is differential coefficient and continuous, thus verified the correctness of mechanical arm kinematics, provided theoretical basis on effectively restraining joints fluttering problems.


Keywords: Homogeneous coordinates, Posture, Matrix transformation, Forward kinematics.


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