可重构机器人工作空间的自动计算方法

由于可重构机器人的自由度和工作空间可以灵活定制，工作空间的自动计算是设计和校核中的一个重要问题．为此，讨论了基于旋量和Jacobian矩阵计算运动学逆解的通用方法、采用降维搜索和二分法计算工作空间边界点的计算方法以及采用双向链表确定工作空间多连域截面封闭曲线的算法．由此，工作空间的各个截面的形状、面积以及整个工作空间的形状、体积可以方便地确定，算法具有很好的通用性，实现了可重构串联机器人工作空间的自动计算．通过一个典型工业机器人的实例验证了算法的有效性．

Algorithms for Automatically Determining Workspace of Reconfigurable Robots

Automatically determining the workspace of reconfigurable robots is important in customizing the degree-of-freedom and the workspace of the robots. Three algorithms, i.e. inverse kinematics based on screw and Jacobian matrix, determination of boundary, points by binary search, and determination of closed-curves in multi-region cross sections of the workspace based on double linked list, are proposed, Then the boundary and the area of any cross section of the workspace, and the shape and the volume of the whole workspace can be easily determined and automatically determining the workspaee of reconfigurable robots is realized by the proposed algorithms. The algorithms are of good general feasibility, and their validities are verified by an example of a typical industrial robot.