| 机器人操作器的动态灵活性测度 |
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| 引用本文： | 傅祥志.机器人操作器的动态灵活性测度[J].华中科技大学学报(自然科学版),1990(Z3). |
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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： | 本文在加速度水平上讨论了机器人操作器的位姿灵活性,推导出操作器端部执行器的加速度和铰力关系方程;从此关系方程出发,并根据向量的广义相关性理论及 Moors-Penrose逆,文中提出了操作器位姿动态灵活性的两个度量指标——绝对动态灵活性及相对动态灵活性指标.
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| 关 键 词： | 机器人操作器 端部执行器 动态灵活性 相关性 测度 |
On the Measure of the Dynamic Dexterity of Robotic Manipulators |
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| Fu Xiangzhi.On the Measure of the Dynamic Dexterity of Robotic Manipulators[J].JOURNAL OF HUAZHONG UNIVERSITY OF SCIENCE AND TECHNOLOGY.NATURE SCIENCE,1990(Z3). |
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| Authors: | Fu Xiangzhi |
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| Institution: | Fu Xiangzhi |
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| Abstract: | This paper is concerned with the posture dexterity of the manipulator at acceleration level and the relational equation between the acceleration of the end-effector and the joint force of the manipulator has been derived. Two indices for measuring the dynamic posture dexterity of the manipulator, one for the absolute and the other for the relative dynamic dexterity, based on the theory of the generalized dependency of the vector and the Moore-penrose inverse, are propsed. |
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| Keywords: | Robotic manipulator End-effector Dynamic dexterity Dependency Measure |
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