分支点邻域内的奇异路径跟踪  

SINGULAR PATH TRACKING IN THE VICINITY OF BIFURCATIONS

作　　者：连广宇[1] 孙增圻[1] 

机构地区：[1]清华大学计算机科学与技术系智能技术与系统国家重点实验室,北京100084

出　　处：《机器人》2003年第1期48-52,共5页Robot

基　　金：国家 8 63资助项目 (编号 :863-70 4-7-17)

摘　　要：在非冗余机械臂运动学的分支奇异点邻域内 ,由于出现逆运动学解的分支现象 ,用基于零空间的拟弧长法求解路径跟踪问题会遇到困难 .为此 ,本文通过计算分支点的局部模型 ,提出从分支点开始向两侧延拓的解曲线计算方法 ,有效地完成了路径跟踪求解 。In the vicinity of bifurcation singularities of non redundant robot manipulators, null space based quasi arc length method will face difficulties due to the existence of more then one solution branches of the inverse kinematics while tracking the desired path in the workspace. By calculating the local model of the solution curve near the bifurcation, an approach is presented to follow the solution curve starting from the singular point to both sides of it. Simulation results demonstrate that the approach effectively helps to solve the path tracking problem in the vicinity of bifurcation.

关 键 词：奇异路径跟踪 分支点 奇异点 非冗余机械臂 运动学 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]