机器人操作机位姿空间的测度

Measurability Posture Space of Robot Manipulator

自动化生产中对机器人的设计、选择和评价中存在两个弊端，一方面是用户常选择不合理的运动学指标为依据造成购得的机器人不能很好地满足工作要求；另一方面是机器人设计者往往盲目地追求对众多运动学指标的所谓全局优化，实际上却恰得其反。该文试图通过拓扑学中的空间测度来揭示机器人运动学指标之间的内在联系，从理论和实际价值的角度出发定义新的运动学指标。

Nowadays,there are two drawbacks in designing, selecting and evaluating of robot manipulator in automatic production: one is that the bought robot can't satisfy the working demands because the user chooses it according to its unsuitable kinematic indications, the other is that so-called global optimization of many kinematic indications results in the opposition from the designer's wishes. In the analysis and evaluation of configuration space, the paper reveals the internal relations among kinematic indications of robot by using space measurability of topology and defines new kinematic indications from the theoretical and practical view.