摘要
讨论了双臂机器人的协作工作空间问题 ,给出了计算多关节双臂机器人协作工作空间的数值方法。该方法以极值理论为基础 ,采用边界提取和阈值判决 ,确定双臂机器人的协作工作空间界限曲面和极限位置。
In this paper, cooperative workspace of dual-arm robot is discussed and an algorithm for cooperative workspace of multi-joint dual-arm robot is introduced. By using this algorithm, which is based on optimum theory, the boundary surface and extreme position of cooperative workspace of dual-arm robot is derived though choosing boundary and deciding intersection. The algorithm has been proved to be feasible by simulation to a 6R dual-arm robot.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2001年第z1期125-127,共4页
China Mechanical Engineering
基金
国家计委211工程资助项目 ( 2 10 2 0 0 2 0 0 1)
关键词
双臂机器人
工作空间
数值计算
界限曲线
dual-arm robot cooperative workspace digital calculation borderline
