机器人运动灵活性问题研究概述  

Advances in Robotic Kinematic Dexterity and Indices

作　　者：谢碧云[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,北京100124

出　　处：《机械科学与技术》2011年第8期1386-1393,共8页Mechanical Science and Technology for Aerospace Engineering

基　　金：国家自然科学基金项目(50775002)资助

摘　　要：从不同角度对早期提出的3个经典灵活性指标进行了详细地解释说明。以此为基础,将后续研究中发现的具有研究价值的运动灵活性问题进行了归纳分类,一是指标解析表达的问题,二是雅克比量纲不统一的问题,三是关节空间的定义问题,最后是其它一些问题。针对这些问题,总结了解决方案和改进后的指标,并对这些指标的作出了简要评价。Three early classic dexterity indices of robot are discussed, and a detailed analysis of these indices from different points of view are given. Based on these classic dexterity indices, the issues of kinematic dexterity are di- vided into four categories. The first is the problem of indices＇ analytical expression. The second one is the problem of jacobian with nonhomogeneous physical units. The third one is the problem of joint space＇s definition and the last one is some other problems. Based on these issues, the solutions and improved indices are summarized, and a brief evaluation of these indices is also made.

关 键 词：运动灵活性 可操作度 各向同性 条件数 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]