| 机器人操作手回避障碍的最佳位姿的确定 |
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| 引用本文： | 傅祥志.机器人操作手回避障碍的最佳位姿的确定[J].华中科技大学学报(自然科学版),1993(6). |
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| 作者姓名： | 傅祥志 |
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| 作者单位： | 华中理工大学机械工程一系 |
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| 摘 要： | 基于对机器人操作手位姿在确定方向上的运动性能的讨论,提出了操作手位姿在该方向上的灵活性的概念及其评价指标,并应用该指标值最优作为目标函数,建立并求解了回避障碍的最佳位姿确定问题的数学模型.
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| 关 键 词： | 机器人 操作手 障碍回避 灵活性 |
Determination of the Optimal Posture of Manipulators for Dodging Obstacles |
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| Fu Xiangzhi.Determination of the Optimal Posture of Manipulators for Dodging Obstacles[J].JOURNAL OF HUAZHONG UNIVERSITY OF SCIENCE AND TECHNOLOGY.NATURE SCIENCE,1993(6). |
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| Authors: | Fu Xiangzhi |
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| Institution: | Fu Xiangzhi |
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| Abstract: | Based on an analysis of the kinematic performance of the robot manipulator in a given direction, the concept of direction dexterity of manipulators is defined and some indices for measuring the dexterity of manipulators in a given direction are proposed. According to the square criterion for dodging obstacles, a mathematical model for determining the optimal posture of manipulators in this case is developed using the index of the direction-dexterity of manipulators. The optimal posture is obtained with the above-mentioned model. |
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| Keywords: | robot manipulator obstacle dodge dexterity |
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