冗余度机器人基于任务的方向可操作度研究

ON TASK-BASED DIRECTIONAL MANIPULABILITY MEASURE OF REDUNDANT ROBOT

分析了机器人传统可操作度概念在实际应用中的不妥之处 ,定义了基于任务的方向可操作度 ,给出了其解析表达式 ,并利用方向可操作度作为目标函数进行冗余度机器人的运动学优化 .仿真结果表明 ,同传统的可操作度相比 ,基于任务的方向可操作度更具有实际应用意义 .

Based on the analysis of the conventional manipulability measure(MM), the task based directional manipulability measure (TBDM) was defined in this paper. The analytic expression of TBDM was given by the author and was used as the objective function to optimize the robot configuration. Simulation shows that TBDM is more significative than the conventional MM in practical applications.