摘要
文中对关节机器人位移逆解的多值选择问题进行了分析,选择位置逆解中排除运动范围外的结果,选用与上一解运动趋势相同的解。描述了回避球形手腕奇异位置的方法,实时考察手臂是否接近奇异状态,随后保持末端位姿,调整奇异位形关节的动作。给出了选择逆解和回避奇异位置的算法流程。
The right settle of robot muhi-solution in inverse kinematics problem is analyzed firstlyl It excludes the solution outside the working range, then it selects the solution whose motion trend is accord with the last solution; About spherical wrist, its singular attitudes avoidance is by real-time monitoring if it closes the singular position, then keeping the end operator situation, adjusting rotates to a non-singular situation. The flow-chats both muhi-solution selection and singular position avoidance are offered.
出处
《机械工程师》
2010年第9期15-17,共3页
Mechanical Engineer
基金
武警工程学院基础研究项目(WJY201031)
关键词
机器人运动学逆解
机器人奇异位置
机器人雅可比
robot singular positions
robot multi-inverse kinematics solution
Jacobian matrix
