| 操作机器人的运动学测度 |
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| 引用本文： | 钟晓林,熊有伦.操作机器人的运动学测度[J].华中科技大学学报(自然科学版),1988(Z1). |
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| 作者姓名： | 钟晓林 熊有伦 |
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| 作者单位： | 华中理工大学机械工程一系
(钟晓林)，华中理工大学机械工程一系(熊有伦) |
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| 基金项目： | 国家教委自然科学基金项目“手-眼系统”的一部分 |
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| 摘 要： | 本文从线性模空间矢量逼近的角度讨论了操作机器人作用空间与广义坐标空间的转换问题。基于数值相关性理论论述了操作机器人的几种运动学测度,包括奇异性、操作度、条件数和不可达度。本文讨论了这几种运动学测度之间的关系,几何意义和计算,针对各种类型的机器人得出了一些有用的结论。文中还讨论了直角坐标机器人、SCARA、PUMA、STANDFORD等型号机器人的条件数估算及其最佳位姿。
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| 关 键 词： | 机器人 运动学 测度 奇异性 操作度 条件数 不可达度 |
On the Kinematics Measures of Manipulation Robots |
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| Zhong Xiaolin Xiong Youlun.On the Kinematics Measures of Manipulation Robots[J].JOURNAL OF HUAZHONG UNIVERSITY OF SCIENCE AND TECHNOLOGY.NATURE SCIENCE,1988(Z1). |
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| Authors: | Zhong Xiaolin Xiong Youlun |
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| Institution: | Zhong Xiaolin Xiong Youlun |
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| Abstract: | The kinematics measures of manipulation robots, including singularity, manipu-lability, condition number and unreachability are investigated. The meanings and properties of all these concepts are discussed on the basis of the theory of numerical correlativity. Several conclusions about the conditions for the occurrence of singularity and perturbation during space transformation of the robot are obtained. The formulae for estimating the manipulability and condition number of different types of robots are presented. The best postures of orthogonal manipulator SCARA, PUMA type robot and STADNFORD arm from the point of view of the optimal condition number are given. |
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| Keywords: | Robot Kinematics Measure Singularity Manipulability Condition number Unreachability |
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