基于牛顿迭代法消除机器人奇异点的研究

The Research of Eliminating the Robot's Singular Point Based on Newton's Method of Iteration

机器人奇异点问题一直是机器人研究的一个热点问题。本文求解了一般6R机器人的Jacobin矩阵,并采用牛顿迭代法消除了运动学逆解中的奇异点,使机器人轨迹规划中尽可能地减少惯性运动,使轨迹连续。

The problem of robot＇s singular point is always a focus in robot study. This article solves the Jacobin matrix of the 6R robot, using Newton＇s method of iteration to eliminate the kinematics＂ singular point, making the robot＇s track reduce inertial motion possibly and making the mark continuously.