西安电子科技大学学报（自然科学版）Issue(1)：87-93,7.DOI:10.3969/j.issn.1001-2400.2016.01.016
绳牵引摄像机器人的力位混合稳定性评价方法
Approach with a hybrid force-position property to assessing the stability for camera robots
摘要
Abstract
Firstly , in order to assess the stability of the camera robots , a stability performance index with combination of force and position is proposed based on the determinations of the cable tensions for a camera robot . Furthermore , the stability performance index is described using the weighted average method , and meanwhile ,the stability workspace is designed with the stability performance index . Secondly , a robust workspace with the external wrench is selected to compare with the stable workspace above for the camera robots . Finally , simulation results show that it is suitable to employ the stable performance to evaluate the stability of the camera robots .关键词
绳牵引并联机器人/摄像机器人/稳定性/工作空间/力位混合Key words
cable-based parallel robots/camera robot/stability/workspace/hybrid force-position approac分类
信息技术与安全科学引用本文复制引用
刘鹏,仇原鹰..绳牵引摄像机器人的力位混合稳定性评价方法[J].西安电子科技大学学报（自然科学版）,2016,(1):87-93,7.基金项目
国家自然科学基金资助项目 （）
