摘要
在双臂机器人力可操作度椭球的基础上,定义双臂机器人力方向可操作度,以力方向可操作度为性能指标,给出了双臂协调运动关节轨迹规划,理论及算例仿真分析结果表明本文规划方法的可行性。
We define the force-directional manipulability of a dual-armed robot in terms of its force manipulability ellipsoid. Taking the force-directional manipulability as a performance index, we present the trajectory planning of the coordinated motion of the joints of the robot＇s two arms. Numerical simulation results show that the trajectory planning through comparing force-directional manipulabitity is effective.
出处
《机械科学与技术》
CSCD
北大核心
2007年第8期1020-1024,共5页
Mechanical Science and Technology for Aerospace Engineering
关键词
双臂机器人
力方向可操作度
轨迹规划
dual-armed robot
force-directional manipulability
trajectory planning
