冗余度机器人操作机伪逆控制重复性研究

REVIEW OF STUDY ON THE REPEATABILITY OF REDUNDANT MANIPULATORS UNDER PSEUDOINVERSE CONTROL

本文对冗余度机器人操作机伪逆控制重复性的研究进行了系统的分析.讨论了LBC稳定曲面存在及自运动流形的零挠率重复性判据的可行性,澄清了LBC引入稳定曲面作为重复性判据的错误观点,分析了伪逆控制重复性与冗余的矛盾,提出了对于冗余度机器人操作机封闭路径的重复作业,不宜采用伪逆控制,而应选择将冗余度系统降为非冗余系统的逆解算法以消除关节轨迹的漂移.

Study on the repeatability of kinematically redundant manipulators under pseudoinverse control is reviewed in this paper. This work discusses whether the existence of LBC's stable surface and zero torsion of self-motion manifold as judge of the repeatability are available, clarifies the misconception with which stable surfaces are introduced to judge the repeatability, analyzes the contradiction between pseudoinverse control repeatability and redudancy, and suggests that in order to obtain free-trajectories for redundant manipulators performinging tasks with periodically closed paths, no pseudoinverse control methods but relevate control methods which decrease redundant systems to non-redundant systems be chosen.