運動学arXiv:0806.0473
ウナギ型ロボットの椎骨ユニットの運動学的解析
Kinematic Analysis of the vertebra of an eel like robot
ウナギ型ロボットの関節ユニットを並列構造の球面手首としてモデル化し、衝突を考慮した作業空間を傾斜・ねじれパラメータで評価した。
著者: Damien Chablat
分類: cs.RO, physics.class-ph
原文アブストラクト
The kinematic analysis of a spherical wrist with parallel architecture is the object of this article. This study is part of a larger French project, which aims to design and to build an eel like robot to imitate the eel swimming. To implement direct and inverse kinematics on the control law of the prototype, we need to evaluate the workspace without any collisions between the different bodies. The tilt and torsion parameters are used to represent the workspace.
