| 冗余机器人奇异位形分析的新方法 |
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| 引用本文： | 王卫平,蒋建敏.冗余机器人奇异位形分析的新方法[J].湘潭大学自然科学学报,1990,12(3):99-102. |
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| 作者姓名： | 王卫平 蒋建敏 |
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| 作者单位： | 湘潭大学机电工程系
(王卫平)，湘潭大学机电工程系(蒋建敏) |
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| 摘 要： | 阐明了一种用来分析奇异位形新方法。此方法的建立是基于虚位移原理来对冗余操作手列出力平衡方程组的,通过求解方程组,可方便地找出奇异位形
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| 关 键 词： | 机器人 冗余度 奇异位形 虚位移？ |
NEW METHOD FOR ANALYZING SINGULAR CONFIGURATION OF ROBOT MANIPULATOR WITH REDUNDANCY |
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| Wang Weiping Jiang Jianming.NEW METHOD FOR ANALYZING SINGULAR CONFIGURATION OF ROBOT MANIPULATOR WITH REDUNDANCY[J].Natural Science Journal of Xiangtan University,1990,12(3):99-102. |
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| Authors: | Wang Weiping Jiang Jianming |
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| Institution: | Department of Mechanical-Electrical Engineering |
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| Abstract: | In order to determine singular configuration of robot manipulator with redundancy, Jacobian method may be used, but this method has such a disadvantage: complicated calculation. In this paper, we present a new method which can be used to analyse singular configuration. This method is established using virtual displacement principle to list the force balance equations for manipulator with redundancy. solving the equations, we can conveniently find out the singular configuration. |
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| Keywords: | Robot Redundancy/Virtual-movement princile Singular configuration |
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