摘要
本文对冗余度变几何桁架机器人的轨迹规划进行了研究。讨论了采用不同的评价函数，从而改善冗余度机器人的运动特性，并对四重四面体变几何桁架机器人进行了仿真计算。
The path planning of redundant variable geometry tru{s manipulators is investigatedin this paper. The various performence functions which can be used to improve the kinematic characteristic of redundant robots are discussed. The simulation calculation of kinematics for a four celled tetrahedron-tetraledron variable geometry truss manipulator is giwen.
基金
国家自然科学基金
关键词
冗余度
机器人
伪逆
轨迹规划
变几何桁架机构
redundancy
variable geometry truss manipulator
pseudo-invrse
path planning
