冗余度机器人操作机运动学及其设计的研究

STUDY ON KINEMATICS AND DESIGN FOR KINEMATICALLY REDUNDANT ROBOT MANIPULATORS

近年来学者们对机器人冗余的研究越来越感兴趣.现有机器人冗余的研究涉及面很广,从操作机设计、运动学算法到控制系统的设计.本文对冗余度操作机运动学及其设计理论进行了系统综述,讨论并比较了各种运动学算法的优缺点,分析了冗余度操作机设计的准则,并对伪逆控制重复性问题几种观点进行了探讨.文中最后对冗余度操作机运动学及其设计的进一步研究提出了一些看法.

Recently researchers are more and more interested in robot redundancy. In this paper, theories on kinematics and design for kinematically redundant manipulators are reviewed. At first all kinds of inverse kinematic algorithms are compared and discussed, secondly principals for the design of kinematically redundant manipulators are analyzed, thirdly the repeatability under pesudoinverse is investigated. At last, future works on kinematics and design for kinematically redundant manipulators are given.