双臂机器人位姿的方向可操作性  

DIRECTION-ORIENTED MANIPULABILITY MEASURES OF DUAL-ARM ROBOTS

作　　者：陈国锋[1] 杨昂岳[1] 

机构地区：[1]国防科技大学机电工程与仪器系,长沙410073

出　　处：《机器人》1996年第2期108-114,共7页Robot

摘　　要：机器人位姿的方向可操作性是指在当前位姿状态下末端执行器沿指定方向的传速性能和传力性能.本文提出了双臂机器人沿给定方向的广义速度和广义力的可操作性概念,定义了双臂机器人在给定方向上的线速度/角速度可操作性测度、力/力矩可操作性测度.文章最后给出了具体的分析与应用实例.A dual-arm robot can be appropriately viewed as a mechanical transformer with joint velocity and force as input and cartesian velocity and exerted force of the object as output. This paper presents the direction-oriented manipulability of dual-arm robots, and the velocity and force transmission characteristics under a given posture. The direction-oriented linear/rotation velocity and force/moment manipulability measures are defined. The applications of these indices as optimal performance criterion are explored, and illustrating examples are given out.

关 键 词：双臂机器人 可操作性 机器人 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]