机器人全方位工作空间的解析法

A Method for Analysing the Dextrous Workspace of Manipulator

对机器人的全方位工作空间进行了研究,首次提出了关节运动有限制的实用机器人全方位工作空间的解析方法.文中还提出了一系列判定全方位工作空间是否存在的判据,最后给出了计算实例.本文提出的解析法是通过直接求出边界面来确定全方位工作空间的,因而具有计算精确而迅速的优点.

In this paper,the dextrous workspace of a manipulator is studied.A method is presented for analysing the dextrous workspace of manipulatorwith limited motion joints.A series of criteria are put forward,with whichthe existence of the dextrous workspace of a manipulator can be deduced.Finally,an example of analysing the dextrous workspace is proposed.As themethod recommended in the paper makes it possible to obtain the boundarysurfaces of a dextrous workspaace,it has the advantage of being quick andprecise in calculation.