| 冗余度机器人操作机扩展作业空间方法数值稳定性的研究 |
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| 引用本文： | 吴瑞珉,毕诸明,刘廷荣,张友良.冗余度机器人操作机扩展作业空间方法数值稳定性的研究[J].南京理工大学学报(自然科学版),1998(2). |
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| 作者姓名： | 吴瑞珉 毕诸明 刘廷荣 张友良 |
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| 作者单位： | 南京理工大学制造工程学院，哈尔滨工业大学机电学院 |
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| 摘 要： | 该文对冗余度操作机最为常用的求逆解方法——扩展作业空间方法的数值稳定性进行了探讨。按照均衡比例因子的思想，对扩展作业空间方法进行了修正，使其能适应不同的性能指标，有较好的数值稳定性。最后通过数值仿真计算验证了方法的可行性。
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| 关 键 词： | 逆运动学，冗余度，机器人，扩展作业空间方法，稳定性 |
Numerical Stability of the Extended Task space Method of Kinematically Redundant Manipulators |
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| Abstract: | The algorithm stability of the extended task method for kinematically redundant manipulators, which is often utilized to obtain redundancy resolutions, is discussed in the paper. Based on the balanced scale factor proposed, a new modified extended task method is established, which is suitable for all kinds of performance indices, and it is of high numerical stability. In the end, a numerical example is given to verify the feasibility of the method above mentioned. |
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| Keywords: | inverse kinematics kinematically redundancy robot extended task method stability |
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