基于分离速度的七自由度仿人手臂自运动研究  

Planning on the self-motion of a 7-DOF anthropomorphic arm based on segregation speed

作　　者：刘宇[1] 孙立宁[1] 曲东升[1] 孙朝阳[1] 

机构地区：[1]哈尔滨工业大学机器人研究所,黑龙江哈尔滨150001

出　　处：《机械设计》2004年第8期29-32,共4页Journal of Machine Design

摘　　要：首先分析了一种七自由度冗余仿人手臂的运动学正问题 ,然后求解了其雅克比矩阵 ,最后基于分离速度控制法 ,利用求得的雅克比矩阵对其进行自运动分析实验。实验结果表明 ,分离速度法求运动学逆问题 ,本质上是一种速度积分方法 。Kinematics positive problems was analyzed firstly upon a seven DOF redundant anthropomorphic arm, and then solved its Yacobi matrix, and finally based upon controlling method of segregation speed to carry out an analytical test on the arm's self-motion by the use of the obtained Yacobi matrix. The result of test shows that to solve kinematics inverse problem by segregation speed method is in essence a kind of speed integration method, and there exists value calculation errors.

关 键 词：冗余手臂 分离速度控制法 自运动 七自由度 仿人手臂 运动学 雅克比矩阵 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]