机器人运动学反解中的奇异点处理

SINGULARITIES TREATMENT FOR MANIPULATOR INVERSE KINEMATICS EVALUATION

本文研究机器人运动学反解中的奇异点处理问题，给出了机器人微分运动Ｊａｃｏｂｉａｎ矩阵Ｊ（ｑ）条件数的一个上界，并在此基础上提出机器人关节速度阻尼伪逆解方法中阻尼系数的一种自适应调整方法。

Methods using the Jacobian matrix are quite effective for manipulator inverse kinematic solution except in regions near singular points. Many approaches have been developed to handle the singularity problem. In this paper, an algorithm using damped pseudoinverse with variable damped weight is introduced for inverse kinematic solution. An upper bound of condition number of the Jacobian matrix is established, according to the value of this upper bound, a method to adaptively adjust the damped weight is proposed. The introduced algorithm is stable in regions near singular points and can achieve accurate solution.