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Abstract: The model of non-holonormic constraint joint mechanism
based on dual over-running clutch and the control model are constructed
according to the features of Cobot collaboration with human, and the
simulation analysis is carried out. On the basis the model of Cobot
trajectory control and its simulation model are built up, and the
simulation research of Cobot following a desired trajectory is
implemented. The simulation results illustrate that the Cobot can track
a desired trajectory, and possess passive and constraint
characteristics, and can accomplish collaboration with a human operator.
The Cobot model can be applied in applications for material moving,
parts assembly and some situations requiring man-machine cooperattion,
and so on.
Key words: Cobot Over-running clutch Non-holonomic constraint Modeling
Simulation
CLC No: TP242
国家自然科学基金(60275030)和哈尔滨市留学回国基金(2002AFLXJ004)资助项目.
Received 20040902, received in revised form 20050413
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