机器人稳态分析的一种新方法

A New Method for Stable State Analysis of Robots

提出一种机器人稳态分析新方法,以D-H矩阵的逆矩阵,构建由工具坐标系到机械臂关节空间坐标系之间的线性射映关系,即一种新型的雅可比矩阵,由此导出由工具坐标系到关节坐标系之间力和力矩的传递函数。和传统的稳态分析方法相比,减少矩阵叉积次数,且能得出和关节空间力和力矩关系相一致的表态式,并能用D-H矩阵验证求解的正确性。

Reverse matrix is used to censtruet the linear mapping relationship between tool coordinate system and manipulator-joint coordinate system （ a new type of Jaeobian matrix）. Then the transmission function of foree and moment from tool coordinate system to joint coordinate system is deduced. Contrasted with the traditional method of stable state analysis, fewer times of cross preduet are needed by the presented method, and state expression consistent with the relationship between force and moment in joint space can be obtained, and the solution correctness can also be validated using D-H matrix.