| 雅可比矩阵在机器人运动中的应用 |
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| 引用本文： | 纳文,张世强,曹越琦,孙华飞. 雅可比矩阵在机器人运动中的应用[J]. 北京理工大学学报, 2020, 40(5): 576-580. DOI: 10.15918/j.tbit1001-0645.2017.168 |
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| 作者姓名： | 纳文 张世强 曹越琦 孙华飞 |
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| 作者单位： | 北京理工大学 数学与统计学院, 北京 100081 |
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| 基金项目： | 北京市科委创新项目（Z161100005016043） |
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| 摘 要： | 利用雅可比矩阵的性质研究机器人的逆运动问题，特别地讨论了带冗余度和矩阵奇异的情形.首先给出逆运动的求解方法，然后给出它的应用，用梯度下降法给出关节角的迭代公式，最后给出模拟仿真结果.仿真结果表明该方法准确高效，为机器人的运动规划和控制的实现奠定基础.
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| 关 键 词： | 雅可比矩阵 逆运动 可操作度 梯度下降法 |
| 收稿时间： | 2018-12-03 |
Applications of Jacobi Matrices in Kinematics of Robots |
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| AUNG Naing-win,ZHANG Shi-qiang,CAO Yue-qi,SUN Hua-fei. Applications of Jacobi Matrices in Kinematics of Robots[J]. Journal of Beijing Institute of Technology(Natural Science Edition), 2020, 40(5): 576-580. DOI: 10.15918/j.tbit1001-0645.2017.168 |
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| Authors: | AUNG Naing-win ZHANG Shi-qiang CAO Yue-qi SUN Hua-fei |
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| Affiliation: | School of Mathematics and Statistics, Beijing Institute of Technology, Beijing 100081, China |
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| Abstract: | In this paper, an inverse kinematics issue of robot was studied based on the properties of Jacobi matrices. Especially, the cases with the redundancy and singularity of the matrix were investigated. Firstly, a method was proposed to solve the inverse kinematics. Then its applications were presented. Finally, some simulation experiments were carried out. The results provide a basic method for the programming and control of robot action. |
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| Keywords: | Jacobi matrix inverse kinematics measure of manipulability gradient descent method |
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