| 冗余机器人奇异位形分析的新方法 |
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| 引用本文： | 王卫平.冗余机器人奇异位形分析的新方法[J].东莞理工学院学报,1998,5(2):30-33. |
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| 作者姓名： | 王卫平 |
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| 作者单位： | 东莞理工学院机械工程系!东莞市学院路139号，511700 |
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| 摘 要： | 阐述了一种用来分析奇异位形的新方法，此方法的建立是基于虚位移原理来对余冗操作手列出力平均方程组的，通过求解方程组，可方便地找出奇异位形。
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| 关 键 词： | 机器人 冗余度 虚位移原理 奇异位形 冗余机器人 |
NEW METHOD OF ANALYZING SINGULAR CONFIGURATION OF ROBOT MANIPULATOR WITH REDUNDANCY |
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| Wang Weiping.NEW METHOD OF ANALYZING SINGULAR CONFIGURATION OF ROBOT MANIPULATOR WITH REDUNDANCY[J].Journal of Dongguan Institute of Technology,1998,5(2):30-33. |
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| Authors: | Wang Weiping |
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| Institution: | Dongguan Institute of Technology |
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| Abstract: | In order to determin singular configuration of robot manipulator with redundancy, jacobianmethod may be adopted. However this method has the disadvantage: of being complicated in calculation.In this paper, we present a new method of analysing singular configuration, which is based on usingvirtual displacement principle to list the force balance equations for manipulator with redundancy.Solving the equations we can easily find out the singular configamtion. |
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| Keywords: | Robot Redundancy/Virtual - movement principle Singular configuration |
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