摘要
基于反馈线性化控制理论推导出对应于平面 4R刚性冗余度机器人零空间中的杆件自运动的零动态方程 ;通过混沌分析的数值方法 ,首次找到了该冗余度机器人自运动状态与其零空间中的矢量的关系的统计规律。
In this paper the zero dynamics corresponding to the self-motion of links in the null space of a redundant robot is derived based on the theory of feedback linearization. For a planar 4R redundant robot with the desired output to be a straight line, the relation between the self-motion and the vectors in the null space is obtained for the first time by means of several diagnostic criteria for chaos such as Poincare maps and Lyapunov exponents, and it is meaningful to improve the dynamic performance of redundant robots.
出处
《机械传动》
CSCD
2003年第2期1-4,共4页
Journal of Mechanical Transmission
基金
国家自然科学基金项目 (599750 77)
四川省应用基础研究项目
