| 机器人奇异形位分析及协调控制方法 |
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| 引用本文： | 刘成良,张凯,曹其新,付庄,殷跃红. 机器人奇异形位分析及协调控制方法[J]. 上海交通大学学报, 2002, 36(8): 1138-1142 |
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| 作者姓名： | 刘成良 张凯 曹其新 付庄 殷跃红 |
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| 作者单位： | 上海交通大学,机械与动力工程学院,上海,200030 |
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| 基金项目： | 国家自然科学基金资助项目 (5 0 12 85 0 4) |
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| 摘 要： | 把6R机器人奇异形位分为边界奇异、内部奇异、结构边界奇异和腕部奇异，分析了这些奇异形位的形成条件，并对每一种奇异进行了计算机仿真。在深入分析奇异边界构成的基础上，给出了内部奇异直观的计算机图形仿真结果，克服了以往笼统而欠实用描述方法的不足。通过分析J^-1(J为Jacobian矩阵）提出了采用协调控制法回避机械手奇异形位的理论及在线实时控制方法。
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| 关 键 词： | 控制方法 机器人 奇异形位 协调控制 计算机仿真 边界奇异 内部奇异 腕部奇异 |
| 文章编号： | 1006-2467(2002)08-1138-05 |
| 修稿时间： | 2001-08-20 |
Singular Configuration Analysis and Coordinate Control of Robot |
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| LIU Cheng liang,ZHANG Kai,CAO Qi xin,FU Zhuang,YIN Yue hong. Singular Configuration Analysis and Coordinate Control of Robot[J]. Journal of Shanghai Jiaotong University, 2002, 36(8): 1138-1142 |
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| Authors: | LIU Cheng liang ZHANG Kai CAO Qi xin FU Zhuang YIN Yue hong |
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| Abstract: | The singularity and coordinate control of robot were studied. A method of solving the approximate velocity of joint by adding damped vector was proposed and a modified algorithm was provided based on the work of Wampler. The singularities were divided into the structure boundary singularity, boundary singularity, inner singularity and wrist singularity. The computer graphic simulations were developed. The inner singularity was studied in detail. The methods of using coordinate control to avoid the singularity of robot arm and real time control were presented. |
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| Keywords: | robot singular configuration coordinate control computer simulation |
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