摘要
分析了“被动冗余度”空间机器人主、被动关节之间的运动学耦合，得到了可用于运动学规划的耦合指标；分析了“被动冗余度”空间机器人的运动学奇异的问题，以及与对应全主动关节冗余度空间机器人的运动学奇异的区别，得到的新的可操作性指标同样可用于机器人的运动规划；推导出了“被动冗余度”空间机器人的最佳最小二乘运动学优化方程，通过“准自运动”实现被动冗余度空间机器人优化控制；通过对平面3自由度空间站机器人的仿真，证实了分析得到的结论。
The coupling of passive joints and a ctuated joints in passive redundancy space robots are analyzed, and formulated a meas ure about the coupling which can be considered as a performance index in planing robot motion. The kinematics singularity of passive redundancy robots and the d ifference about the singularity between the passive and the non-passive redundan cy robots also are analyzed. A passive redundancy robot manipulability index whi ch also can be used in planing robot motion, is defined. The concept of “proxim ate self-motion” for the passive redundancy robot, is presented the “proximate self-motion” can optimum the motion when robot completes a end -effector missi on. In the simulation faction, a planar 3-DOF space station robot exhibits the a bility of the “proximate self-motion” in avoiding the kinematics singularity.
出处
《机械工程学报》
EI
CAS
CSCD
北大核心
2000年第8期59-63,共5页
Journal of Mechanical Engineering
