冗余度机器人扩展作业空间方法算法奇异的研究  

STUDY ON THE ALGORITHM SINGULARITY OF THE EXTENDED TASKSPACE METHOD FOR KINEMATICALLY REDUNDANT ROBOTS

作　　者：吴瑞珉[1,2] 刘廷荣 毕诸明[1,2] 陶建国[1,2] 

机构地区：[1]南京理工大学制造工程系 [2]哈尔滨工业大学机电学院

出　　处：《机器人》1998年第1期63-68,共6页Robot

基　　金：中国博士后科学基金

摘　　要：本文对冗余度操作机最为常用的求逆解方法——扩展作业空间方法的算法奇异问题进行了深入的研究．Ｋｌｅｉｎ［２，４］及Ｃｈｏ［３，５］提出冗余度机器人采用扩展作业空间方法必须首先确定由于性能指标函数及扩展Ｊａｃｏｂｉａｎ矩阵所引起的算法奇异在关节空间中的分布区域，只有这样才能避免方法引起的算法奇异．通过本文对扩展作业空间方法的优化性能指标函数的必要条件及算法奇异产生的条件的比较及研究，得出了在应用扩展作业空间方法时，不可能出现算法奇异的情况．因此在应用扩展作业空间方法时无需考虑算法奇异问题．Algorithm singularity of the extended taskspace method for kinematically redundant robot, which is one of the redundant solution method is studied deeply in the paper. Kleinand Cho pointed out that if the extended taskspace method is used for redundant robots, the distribution of algorithm singularities, caused by performance index functions and extended Jacobian matrix, should be determined in the joint space in order to avoid algorithm singularity. We have compared the optimal necessary condition of the performance index with the condition of algorithm singularity for the extended taskspace method, and find that it is impossible for the method to cause algorithm singularity as the extended taskspace method is used to solve the redundant prblems, therefore, it is not necessary to consider the problem of algorithm singularity.

关 键 词：机器人 扩展作业空间 算法奇异 冗余度机器人 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]