摘要
机器人雅可比矩阵的求解对于机器人的分离速度控制、静力学分析、灵巧度分析等极为重要。大型喷浆机器人结构上不存在闭链问题,但关节数较多。对现有雅可比矩阵求解方法进行了对比研究,针对大型喷浆机器人的具体特点,使用微分-矢量法求解出了大型喷浆机器人的雅可比矩阵,为喷浆机器人的进一步设计提供了可靠的理论依据。
Jacobian matrices are extremely important for the separation speed control, static power analysis, and dexterity analysis of robot. Large scale shotcrete-robot has no closed chain problem but with many joints. On comparing the algorithms for computing Jacobian matrices and according to the structure of the robot, Ja- cobian matrices of the large scale shotcrete-robot are solved by Differential-Vector method in this paper, which will serve as reliable theory foundations for further design of the large scale shotcrete-robot.
出处
《组合机床与自动化加工技术》
北大核心
2010年第7期5-7,11,共4页
Modular Machine Tool & Automatic Manufacturing Technique
基金
国家863计划资助项目(8635121602)
关键词
大型喷浆机器人
雅可比矩阵
微分-矢量法
large scale shotcrete-robot
jacobian matrices
differential-dector method
