机器人通过奇异位形的运动学分析及仿真

研究了一种分析机器人奇异位形的新型控制方法。该方法使用线几何理论分析机器人线性相关的关节轴线矢量,从而识别机器人奇异方向和奇异关节轴,并将线性相关矢量对应的Jacobian矩阵进行列删除;使用反螺旋理论区分工作空间的可行运动和不可行运动,将不可行运动对应的Jacobian矩阵的行进行删除。当机器人失去一个自由度时,相应满秩Jacobian矩阵由66简化为55,使机器人在奇异位形处仍能获得精确解。通过对PUMA机器人仿真研究,结果表明了该方法的有效行。

Study and Simulation of Manipulator Kinematic Solution at Singular Configurations

A new approach to the singularity analysis of manipulators is presented. The joint axis linear dependence is determined by using classified line varieties, so that not only the singular configurations of the manipulator can be identified but also the specific axes becoming linearly dependent can be recognized. The task space feasible motions are identified by using reciprocal screws. By isolating the linear dependent columns and rows in the Jacobian matrix, the corresponding singular Jacobian matrix is simplified from 66 to 55, so that the exact solutions for the manipulator are obtained near singular configurations. In the end, some simulation results for PUMA manipulator are given to demonstrate the effectiveness of this method.