空间7R冗余度机械臂运动灵活性的研究  

Study on Dexterity of Spatial 7R Redundant Manipulator

作　　者：方承[1] 赵京[1] 

机构地区：[1]北京工业大学机械工程与应用电子技术学院,北京100022

出　　处：《机械设计与研究》2007年第3期58-61,共4页Machine Design And Research

基　　金：北京市自然科学基金资助项目(3042005)

摘　　要：分别用条件数和可操作度两个灵活度指标对空间7R冗余度机械臂进行了运动规划,分析了基于不同指标的末端轨迹的异同。研究结果表明:就末端轨迹而言,初始点最优是一种有效的规划方法;条件数的优化能力要强于可操作度;当规划进入优化解域时,指标函数逐点最优曲线的波动会使机械臂末端产生突跳现象。A spatial 7R redundant manipulator is planned kinematically with the two flexible indexes condition number and manipulability respectively, and the difference of end -effector＇ s trajectory for these two indexes is analyzed. Some conclusions are drawn as follows： as for end -effectorg trajectory, initial optimization is a good planning method, and the optimization ability of the condition number is stronger than the manipulabilityg. When the joint trajectory is within the optimum solution domain, a sudden jump of end - effector will occur due to the fluctuation of the index function determined by the exhaustive optimization method.

关 键 词：冗余度机械臂 条件数 可操作度 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]