基于SVD可操作度指标的机械臂灵活性分析

Flexibility analysis of manipulator based on SVD operability index

针对机械臂在其工作空间内灵活性的优劣分布问题,提出了一种基于雅克比SVD可操作度指标,并对其进行归一化处理,分析该指标的大小随工作空间内点的变化情况。首先,分析机械臂的雅克比矩阵及其奇异值分解,基于雅克比奇异值推导出可操作度的表达式;然后,分析机械臂的奇异性并基于SVD方法提出一种评估机械臂的操作能力方法;最后,以川崎FS03N型机械臂为研究对象,采用所提出的方法,应用MATLAB的Robotics工具箱进行仿真分析,验证了上述分析的正确性,并为后续的避障和轨迹规划奠定基础。

Aimed at the distribution of the flexibility of the manipulator in its workspace, it is proposed that a flexible analytical method is based on the operable index of Jacobian SYD and it is normalize. The size of the index is analyzed with the change of the point in the workspace. First, the Jacobian matrix of the manipulator and its decomposition of singular value are analyzed, and the operable expression is derived, which is based on the Jacobian singular value. After that, the singularity of the manipulator is analyzed, and a method, which is based on the SVD method, is proposed to evaluate the operational capability of the manipulator. Finally, the Kawasaki FS03N type manipulator is selected as the research object. According to the proposed method, it is analyzed, using the simulation of Robotics toolbox of MATLAB. And it verifies the correctness of the mentioned analysis above. And it lays the foundation for the following obstacle avoidance and trajectory planning.