机器人工作空间分析的蒙特卡洛方法

Monte Carlo Technique for Workspace Analysis of Robot Manipulator

利用蒙特卡洛技术随机抽样关节变量,由计算机直接生成并显示机器人手部参考点的样本图象,并将此图象硬拷贝至打印机输出,即可获得机器人工作空间(包括边界面、子空间曲面等)。文中给出了若干实例,以说明此方法的简便直观性.

This paper deals with Monte Carlo technique for numerically ana- lysing the workspace of a robot manipulator based on computer.By means of the technique,the workspace and its boundary surface can be generated and depicted graphically on computer display through sampling joint variables and then simulating the position of reference point on hand.Several exam- ples are given to illustrate this method.