基于力方向可操作度的双臂机器人轨迹规划  

Trajectory Planning of Dual-armed Robot Based on Force-directional Manipulability

作　　者：汪军 陈安军 张宏涛 

机构地区：[1]江南大学机械工程学院,无锡214122

出　　处：《机械科学与技术》2007年第8期1020-1024,共5页Mechanical Science and Technology for Aerospace Engineering

摘　　要：在双臂机器人力可操作度椭球的基础上,定义双臂机器人力方向可操作度,以力方向可操作度为性能指标,给出了双臂协调运动关节轨迹规划,理论及算例仿真分析结果表明本文规划方法的可行性。We define the force-directional manipulability of a dual-armed robot in terms of its force manipulability ellipsoid. Taking the force-directional manipulability as a performance index, we present the trajectory planning of the coordinated motion of the joints of the robot＇s two arms. Numerical simulation results show that the trajectory planning through comparing force-directional manipulabitity is effective.

关 键 词：双臂机器人 力方向可操作度 轨迹规划 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]