摘要
本文在考察机器人操作手动态特性的基础上,研究了操作手的力传递特性,并根据向量系的广义相关性理论,定义了机器人操作手的力传递灵活性指标.最后,本文运用这些指标,解决了在给定操作力的条件下,所需驱动铰力最小的操作手的最佳位姿问题.
According to the analysis of dynamic characteristic,the force transmission characteristics,of manipulatorsare studied.And the criteria for measuring the force-transmission dexterity of manipulators are defined basedon the theory of the general relativity of the vector and Moore-penrose inverse.By using these criteria,thebest posture of a manipulator with the minimum joint force on the given load is determined.
出处
《机器人》
EI
CSCD
北大核心
1993年第3期1-6,共6页
Robot
关键词
机器人
操作手
灵活性
相关性
铰关节力
robot
manipulator
dexterity
relativity of the vector
joint force
