连续三轴平行机器人的避奇异规划  

Planning on Avoiding Singularity for the Robot with the Structure of Three Consecutive Parallel Axes

作　　者：陈钢[1] 贾庆轩[1] 孙汉旭[1] 洪磊[1] 

机构地区：[1]北京邮电大学自动化学院,北京100876

出　　处：《北京邮电大学学报》2009年第3期55-59,共5页Journal of Beijing University of Posts and Telecommunications

基　　金：国家高技术研究发展计划项目(2005AA742050)

摘　　要：针对具有连续三轴平行结构的六自由度机器人,提出一种新的回避奇异的方法.通过分析机器人雅可比矩阵的结构,对雅可比矩阵进行改造;将六维雅可比矩阵分割成两个三维雅可比矩阵.在此基础上,确定了机器人发生奇异的条件;并利用二次规划实现了机器人的避奇异;最后,通过实验验证了该算法的适用性,并与现有的最小阻尼方差等方法进行比较,有较大的优越性.A method to avoid singularity is presented for the 6-Dof robot with the structure of three consecutive parallel axes. By analyzing the robot Jacobian matrix structure and rebuilding the Jacobian matrix, the six-dimensional Jacobian matrix is divided into two three-dimensional Jacobian matrixes for that the condition of robot singularity occurrence is determined and the robot avoiding the singularity is achieved by using quadratic programming. Finally, the algorithm effectiveness is validated by the experiment. The comparison between the quadratic programming method and the existing Damped leastsquares method is manifested. The former is better .

关 键 词：避奇异 矩阵分割 二次规划 三轴平行 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]