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- W2358964098 abstract "Space robots for complicated missions are usually redundant,so they can finish missions with different selection of joints parameters to fulfill different optimization objectives.Vibration and flexibility of movement are two important criteria for evaluating performance of space robots,and magnitude of joints torque is an important factor which can affect the vibration.For path-planning this paper proposes a method which can simultaneously optimize joints torque and condition number,based on the optimization of the velocity of robot end and by employing the redundant DOF(degree-of-freedom)of robot.A strategy for smoothing the velocity curve of end-effector is also employed in this method.A simulation study is conducted in this paper.In this study,the simulated subject is a planar 3-DOF robot in zero-gravity environment,a mathematical model is established and two results of the same mission with different path-planning are presented.By contrasting their results,effectiveness of the proposed method is proved,including the optimization of torque and condition number." @default.
- W2358964098 created "2016-06-24" @default.
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- W2358964098 date "2015-01-01" @default.
- W2358964098 modified "2023-09-28" @default.
- W2358964098 title "Multi-objectives Optimization Method for Path-planning of Space Robot" @default.
- W2358964098 hasPublicationYear "2015" @default.
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