• CN:11-2187/TH
  • ISSN:0577-6686

›› 2000, Vol. 36 ›› Issue (9): 33-36.

• 论文 • 上一篇    下一篇

冗余机械臂运动奇异性分析

丑武胜;吴忠;王田苗;张启先   

  1. 北京航空航天大学机器人研究所;铁道部科学研究院;北京航空航天大学
  • 发布日期:2000-09-15

SINGULARITIES ANALYSIS OF REDUNDANT ROBOT MANIPULATOR

Chou Wusheng;Wang Tianmiao;Zhang Qixian;Wu Zhong   

  1. Beijing University of Aeronautics and Astronautics China Academy of Railway Science
  • Published:2000-09-15

摘要: 作为冗余机械臂结构设计和控制算法设计的理论基础,本文对机械臂的运动奇异性问题进行了分析。引入了冗余机械臂零运动微分动力系统的概念,根据非线性奇异性理论,研究了冗余机械臂奇异状态的局部拓扑性质及可回避性,提出了一种冗余机械臂系统奇异状态类型及可回避性的新方法,其结果适用于任意冗余的机械臂系统。

关键词: 动力系统, 可回避性, 零运动, 奇异, 冗余机械臂, 微分

Abstract: The singularities of manipulator as a base of the design of manipulator’s structure and control algorithms are analyzed. Defining the concept of null motion differential dynamic system, the local topology and avoidability of redundant manipulator’s singularities are studied. A new determination method for the avoidability of redundant manipulator’s singularities is proposes, and it is suitable for manipulators with any redundant degree.

Key words: Dynamic system, Null motion Differential, Redundant manipulator, Singularity avoidability

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