基于矢量积法的六自由度工业机器人雅可比矩阵求解及奇异位形的分析  

Analysis on solution of 6D of robot jacobian matrix and singularity configuration based on vector product method

作　　者：张鹏程[1] 张铁[1] 

机构地区：[1]华南理工大学机械与汽车工程学院,广州510640

出　　处：《机械设计与制造》2011年第8期152-154,共3页Machinery Design & Manufacture

基　　金：粤港澳关键领域重点项目(20090101-1)

摘　　要：论述六自由度工业机器人奇异位置奇异和姿态奇异的问题。由于雅克比矩阵反映操作臂笛卡尔空间速度与关节空间速度之间的映射关系,因此,利用矢量积法求得雅克比矩阵,并将其分块,得雅克比行列式为零时对应的关于关节角表达式,利用关节角表达式得其臂部内部奇异和腕部内部奇异,由关节角的极限范围得边界奇异。最后仿真得出奇异位姿所对应的关节转角及其关系式,为示教、轨迹规划及其动力学分析提供了可靠的依据。The location singularity and posture singularity problems of the 6-DOF industrial robot are discussed.Since jacobin matrix reflects the mapping relationship between cartesian space velocity and joint space velocity,the vector product method is applied in obtaining Jacobian matrix,which is then partitioned and the expression about joint angles can be obtained when the value of the determinant of Jacobian is zero.By applying 7 singularity inside the robot arm and wrist is obtained and the boundary singularity is obtained from the joint angle range.Finally the joint angle and relative relationship of the singularity of location and posture can be solved through simulation,which provides a reliable basis for the robot teaching,trajectory planning as well as dynamics analysis.

关 键 词：六自由度工业机器人 矢量积法 雅克比矩阵 奇异位形 

分 类 号：TH16[机械工程—机械制造及自动化] TP242.2[自动化与计算机技术—检测技术与自动化装置]