解决冗余机器人伪逆可积性问题的势函数法

Potential Function Method Using in the Integrity Problems of Redundant Manipulators

用伪逆求解具有冗余特性机器人关节空间的运动存在不可预测性，这是由其雅可比矩阵伪逆不可积造成的，结果直接影响机器人的轨迹规划．通过针对伪逆不可积问题的现象及其影响的分析，指出了此类问题的实质及解决问题的途径，在此基础上提出了处理问题的具体方法─—势函数法．实例仿真验证了势函数法的可行性．

Due to non-integrability of the standard Jacobian pseudo-inverse,the kinematically redundant manipulator could be drived to unpredictable configurations if the pseudo-inverse is ed to solve the kinematic invere problem, this will make the trajectory planning very difficult The phenomena and effects of the integrity are analyzed, the essentials and the overcoming way of this problem are predicted. As a result,the potential function method is developed for solving this problem.