一类新的冗余度机器人关节运动优化方法  

A New Method of Joint Motion Optimization for the Redundant Robot

作　　者：陈安军 马学文[2] 

机构地区：[1]江南大学机械工程学院,江苏无锡214122 [2]信阳师范学院网络信息与计算中心,河南信阳464000

出　　处：《机械设计与研究》2007年第6期34-37,共4页Machine Design And Research

基　　金：河南省自然科学基金资助项目(0211051800)

摘　　要：针对冗余度机器人机构的关节运动优化进行研究。在机器人力可操作椭球及方向可操作度的基础上,定义冗余度机器人力方向可操作度,以力方向可操作度为性能指标,给出了冗余度机器人关节运动优化的一种新方法。与基于伪逆的优化结果比较,本文优化使得机器人力方向可操作度达到期望值的时间明显减少,在给定方向上力的传递性能得到改善,且能避免奇异。For the redundant robot, the joint motion optimization and simulation were discussed. On the basis of the force manipulability ellipsoid and the directional manipulability measure of the redundant robot, the force directional manipulability measures of the redundant robot was defined. Taking the force directional manipulability measure as the performance index, the joint motion optimization of the redundant robot was presented. According to the result of the pseudo - inverse optimization , the result of the theory analysis and simulation showed that the taking times to reach greatest of the force directional manipulability measures was decreased, the force transmission characteristics was improved in the special direction and the problem of position singularity was avoided.

关 键 词：冗余度 机器人 力方向可操作度 运动优化 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]