机器人通过奇异位形的控制方法

Control methods for manipulators passing through singular configurations

机器人通过奇异位形时的可行运动求解及如何准确地跟踪和实现给定的运动轨迹是机器人技术中急待解决的关键技术问题。该问题的解决对扩大机器人的应用范围、提高操作精度、灵活性和运动学及动力学性能都有着十分重要的实际意义 。

Resolution of the feasible motions of manipulators at singular configurations and accurately tracking the specified trajectory is one of the important technical problems in robotics. It is significant to resolve singularities in order to broad manipulator applications, to improve operating accuracy, dexterity and performances. This paper presents an overview in this area and the perspective of the singularity resolution.