少自由度串联机器人仿真分析

研究了一种少自由度串联机器人精确速度控制方法。少自由度机器人末端可控变量n与关节变量相等，而不可控变量(6—n)是这些可控变量的线性组合。文章用反螺旋理论通过建立独立运动变量和关节变量的运动模型，使机器人末端可控变量与关节变量成一一对应关系。以4自由度机器人为例进行仿真分析，结果证明了改方法的有效性。

Simulation Analysis of Low-DOF Serial Manipulators

An exact velocity inverse method for n-DOF(n<6) serial manipulators is presented. For this kind of low-DOF manipulators, the independent controllable variables in the Cartesian space must equal the joint variables in the joint space, and the remaining (6-n) Cartesian variables will linearly depend on these independent variables. The theory of reciprocal screws is used to determine the independent controllable variables in the Cartesian space, and the mapping between the controllable velocity components in the Cartesian space and the joint variables in the joint space is remodeled and becomes uniquely defined. A numerical simulation example in which the end effector of a 4-DOF manipulator is commanded to demonstrate the effectiveness of this methodology.